Multifunctional vehicle, garden operation vehicle, and neutral gear recognition control apparatus

Abstract

A multifunctional vehicle, a garden operation vehicle, and a neutral gear recognition control apparatus, which can efficiently and accurately recognize and determine an abnormal gear state and scientifically execute response processing in a timely manner. The multifunctional vehicle comprises: a drive axle assembly, wherein the drive axile assembly is provided with a neutral gear mechanism; a gear recognition assembly, which is attached to the neutral gear mechanism and is configured to recognize and determine the gear of the neutral gear mechanism; and a controller, which is configured to determine, on the basis of the gear of the neutral gear mechanism and an operation state of the multifunctional vehicle, whether the multifunctional vehicle is in an abnormal gear state, and generate a warning prompt instruction and / or a security management and control instruction upon determining that the multifunctional vehicle is in an abnormal gear state. The neutral gear recognition control apparatus comprises the gear recognition assembly and the controller.

Description

Multi-functional vehicle, garden operation vehicle and neutral gear identification control device [TECHNICAL FIELD]

[0001] The present application relates to the technical field of vehicle engineering, in particular to a multi-functional vehicle, a garden operation vehicle and a neutral gear identification control device. [BACKGROUND]

[0002] The charging type mower has the advantages of all-weather zero emission, zero oil consumption, low noise and simple maintenance (no gasoline, no oil, no air filter, no spark plug, no fuel storage, etc.) compared with the traditional fuel type mower. The driving wheels of the charging type mower are driven by motors instead of fuel engines, and the driving wheel motors can be controlled separately to realize straight driving, reverse driving, turning and zero steering of the whole vehicle, thereby reducing the structural complexity of the whole vehicle and making the control of the whole vehicle more flexible.

[0003] The driving device in the charging type mower includes a neutral gear mechanism, which can transmit power from the driving motor to the driving wheel or cut off the power transmission. The gear position of the neutral gear mechanism needs to be set according to different working conditions, and an abnormal gear position may affect the driving experience of the operator, and in severe cases, the mower may be damaged. [SUMMARY]

[0004] Therefore, the embodiments of the present application provide a multi-functional vehicle, a garden operation vehicle and a neutral gear identification control device, which can efficiently and accurately identify and determine an abnormal gear position and timely and scientifically perform response processing.

[0005] In one aspect, the embodiments of the present application provide a multi-functional vehicle, comprising:

[0006] a vehicle frame;

[0007] at least one driving axle assembly mechanically connected to a driving motor and a driving wheel, for transmitting power of the driving motor to the driving wheel to drive the multi-functional vehicle to travel;

[0008] a neutral gear mechanism capable of being controlled to place the driving axle assembly in a neutral gear state or a gear engaged state, the driving axle assembly outputs power of the driving motor to the driving wheel in the gear engaged state, and the driving axle assembly does not output power of the driving motor to the driving wheel in the neutral gear state;

[0009] a gear identification assembly attached to the neutral gear mechanism, for identifying and determining a gear position of the neutral gear mechanism; and

[0010] A controller configured to determine whether the multi-purpose vehicle is in an abnormal gear state according to the gear of the neutral gear mechanism and the operating state of the multi-purpose vehicle, and generate a warning prompt instruction and / or a safety control instruction when it is determined that the multi-purpose vehicle is in an abnormal gear state.

[0011] Optionally, the neutral gear mechanism comprises an operation part and an action part, and the action part is capable of causing the drive axle assembly to be in a neutral state or a gear engaged state under the action of the operation part.

[0012] Optionally, the drive axle assembly comprises a plurality of shafts, and the plurality of shafts at least comprises:

[0013] An input shaft mechanically connected to the drive motor, and the drive motor drives the input shaft to rotate;

[0014] An output shaft connected to the input shaft and the drive wheel, and configured to output power of the drive motor to the drive wheel;

[0015] The neutral gear assembly is arranged on one of the plurality of shafts, and a movable gear is arranged on the shaft body on which the neutral gear assembly is arranged, and the movable gear is capable of transmitting torque and sliding relative to the shaft body, and a fixed gear is arranged on a shaft body adjacent to the shaft body on which the neutral gear assembly is arranged;

[0016] The action part is capable of controllably driving the movable gear to slide along the shaft body to engage or disengage the movable gear with the fixed gear, and when the movable gear is engaged with the fixed gear, the drive axle assembly is in a gear engaged state, and when the movable gear is disengaged from the fixed gear, the drive axle assembly is in a neutral state.

[0017] Optionally, the gear recognition assembly is arranged for the operation part and is configured to detect the position state of the operation part;

[0018] When the operation part is in a first position, the drive axle assembly is in a neutral state;

[0019] When the operation part is in a second position, the drive axle assembly is in a gear engaged state.

[0020] Optionally, the gear recognition assembly comprises a gear switch module, and a communication state of the gear switch module corresponds to the position state of the operation part;

[0021] When the operation part is in a first position, the gear switch module is in a first communication state;

[0022] When the operation part is in a second position, the gear switch module is in a second communication state.

[0023] Optionally, the gear recognition assembly comprises a Hall sensor module;

[0024] The Hall sensor module comprises a magnetic element and a Hall induction element, one of the magnetic element and the Hall induction element is arranged on the operation part, and the other is fixedly arranged relative to the drive axle assembly or the vehicle frame, so that the spatial positional relationship between the magnetic element and the Hall induction element changes with the change of the position state of the operation part;

[0025] When the operation part is in the first position, the magnetic element and the Hall induction element are in a first spatial positional relationship;

[0026] When the operation part is in the second position, the magnetic element and the Hall induction element are in a second spatial positional relationship.

[0027] Optionally, the gear recognition assembly comprises an infrared sensor module;

[0028] The infrared sensor module comprises an infrared emitter and an infrared receiver, one of the infrared emitter and the infrared receiver is arranged on the operation part, and the other is fixedly arranged relative to the drive axle assembly or the vehicle frame, so that the spatial positional relationship between the infrared emitter and the infrared receiver changes with the change of the position state of the operation part;

[0029] When the operation part is in the first position, the infrared emitter and the infrared receiver are in a first spatial positional relationship, and the infrared receiver can receive the infrared signal emitted by the infrared emitter in the first spatial positional relationship;

[0030] When the operation part is in the second position, the infrared emitter and the infrared receiver are in a second spatial positional relationship, and the infrared receiver cannot receive the infrared signal emitted by the infrared emitter in the second spatial positional relationship.

[0031] Optionally, the gear recognition assembly comprises an infrared sensor module and an infrared reflector plate;

[0032] The infrared sensor module comprises an infrared emitter and an infrared receiver;

[0033] One of the infrared sensor module and the infrared reflector plate is arranged on the operation part, and the other is fixedly arranged relative to the drive axle assembly or the vehicle frame, so that the spatial positional relationship between the infrared sensor module and the infrared reflector plate changes with the change of the position state of the operation part;

[0034] When the operation part is in the first position, the infrared sensor module and the infrared reflecting plate are in a first spatial positional relationship, and in the first spatial positional relationship, the infrared signal emitted by the infrared emitter can be reflected to the infrared receiver through the infrared reflecting plate.

[0035] When the operation part is in the second position, the infrared sensor module and the infrared reflecting plate are in a second spatial positional relationship, and in the second spatial positional relationship, the infrared signal emitted by the infrared emitter cannot be reflected to the infrared receiver through the infrared reflecting plate.

[0036] Optionally, the gear recognition assembly comprises a laser sensor module.

[0037] The laser sensor module comprises a laser emitter and a laser receiver, one of the laser emitter and the laser receiver is arranged on the operation part, and the other is fixedly arranged relative to the drive axle assembly or the vehicle frame, so that the spatial positional relationship between the laser emitter and the laser receiver changes with the change of the position state of the operation part.

[0038] When the operation part is in the first position, the laser emitter and the laser receiver are in a first spatial positional relationship, and in the first spatial positional relationship, the laser receiver can receive the laser signal emitted by the laser emitter.

[0039] When the operation part is in the second position, the laser emitter and the laser receiver are in a second spatial positional relationship, and in the second spatial positional relationship, the laser receiver cannot receive the laser signal emitted by the laser emitter.

[0040] Optionally, the gear recognition assembly comprises a laser sensor module and a laser reflecting plate.

[0041] The laser sensor module comprises a laser emitter and a laser receiver.

[0042] One of the laser sensor module and the laser reflecting plate is arranged on the operation part, and the other is fixedly arranged relative to the drive axle assembly or the vehicle frame, so that the spatial positional relationship between the laser sensor module and the laser reflecting plate changes with the change of the position state of the operation part.

[0043] When the operation part is in the first position, the laser sensor module and the laser reflecting plate are in a first spatial positional relationship, and in the first spatial positional relationship, the laser signal emitted by the laser emitter can be reflected to the laser receiver through the laser reflecting plate.

[0044] When the operation part is in the second position, the laser sensor module is in a second spatial position relationship with the laser reflection plate, and in the second spatial position relationship, the laser signal emitted by the laser emitter cannot be reflected to the laser receiver through the laser reflection plate.

[0045] Optionally, the operation part is provided with a positioning mark point.

[0046] The gear recognition assembly includes an image recognition module configured to acquire an image corresponding to the drive axle assembly, identify and analyze the positioning mark point in the image, and determine the position state of the operation part according to the identification and analysis result.

[0047] Optionally, the operation state of the multi-functional vehicle includes a controlled state and an uncontrolled state.

[0048] The controlled state refers to a working condition state in which the multi-functional vehicle is controlled by the operator.

[0049] The uncontrolled state refers to a working condition state in which the multi-functional vehicle is not controlled by the operator.

[0050] The method for determining whether the multi-functional vehicle is in an abnormal gear state according to the gear of the neutral gear mechanism and the operation state of the multi-functional vehicle includes:

[0051] In response to the multi-functional vehicle being in the controlled state and the neutral gear mechanism being in the neutral state, it is determined that the multi-functional vehicle is in a neutral driving state.

[0052] In response to the multi-functional vehicle being in the uncontrolled state and the neutral gear mechanism being in the engaged state, it is determined that the multi-functional vehicle is in an engaged trailer state.

[0053] The abnormal gear state includes the neutral driving state and the engaged trailer state.

[0054] Optionally, the multi-functional vehicle includes a left drive axle assembly and a right drive axle assembly, and the left drive axle assembly and the right drive axle assembly are respectively mechanically connected to a drive motor and a drive wheel on the corresponding side to transmit power of the drive motor to the drive wheel.

[0055] The left drive axle assembly and the right drive axle assembly are respectively provided with a left neutral gear mechanism and a right neutral gear mechanism.

[0056] The gear recognition assembly includes a left gear recognition sub-assembly and a right gear recognition sub-assembly respectively corresponding to the left neutral gear mechanism and the right neutral gear mechanism, and is configured to respectively identify and determine the gears of the left neutral gear mechanism and the right neutral gear mechanism.

[0057] The operating state of the multi-functional vehicle includes a controlled state and an uncontrolled state;

[0058] The controlled state refers to a working condition state in which the multi-functional vehicle is controlled by the operator;

[0059] The uncontrolled state refers to a working condition state in which the multi-functional vehicle is not controlled by the operator;

[0060] The method for determining whether the multi-functional vehicle is in an abnormal gear state according to the gear position of the neutral gear mechanism and the operating state of the multi-functional vehicle includes:

[0061] In response to the determination result of the left gear recognition subassembly and the right gear recognition subassembly being that one of the left neutral gear mechanism and the right neutral gear mechanism is in a neutral state and the other is in a gear state, the operating state of the multi-functional vehicle is determined;

[0062] In response to the multi-functional vehicle being in a controlled state, it is determined that the multi-functional vehicle is in a neutral driving state;

[0063] In response to the multi-functional vehicle being in an uncontrolled state, it is determined that the multi-functional vehicle is in a gear towing state;

[0064] The abnormal gear state includes the neutral driving state and the gear towing state.

[0065] Optionally, the multi-functional vehicle further includes a loudspeaker;

[0066] The warning prompt instruction is used to control the loudspeaker to generate identifiable acoustic signals to remind the operator that the multi-functional vehicle is in an abnormal gear state.

[0067] Optionally, the multi-functional vehicle further includes a loudspeaker;

[0068] The warning prompt instruction is used to control the loudspeaker to generate identifiable acoustic signals to remind the operator that the multi-functional vehicle is in an abnormal gear state.

[0069] Optionally, the preset prompt frequency is greater than or equal to 0 Hz and less than or equal to 500 Hz.

[0070] Optionally, in response to the multi-functional vehicle being in an abnormal gear state of neutral driving, the preset prompt frequency is determined according to the duration of the multi-functional vehicle being in an abnormal gear state;

[0071] The preset prompt frequency is determined according to at least one of the towing speed of the multi-functional vehicle, the duration of the abnormal gear state, and the voltage value of the driving motor, in response to the multi-functional vehicle being in the abnormal gear state of towing with gears engaged.

[0072] Optionally, the sound frequency corresponding to the acoustic signal is greater than or equal to 200 Hz and less than or equal to 15,000 Hz.

[0073] Optionally, the sound frequency corresponding to the acoustic signal is determined according to the duration of the multi-functional vehicle being in the abnormal gear state, in response to the multi-functional vehicle being in the abnormal gear state of driving with gears disengaged.

[0074] The sound frequency corresponding to the acoustic signal is determined according to at least one of the towing speed of the multi-functional vehicle, the duration of the abnormal gear state, and the voltage value of the driving motor, in response to the multi-functional vehicle being in the abnormal gear state of towing with gears engaged.

[0075] Optionally, the multi-functional vehicle further comprises a display component;

[0076] The warning prompt instruction is used to control the display component to display a warning graphical mark corresponding to the abnormal gear state.

[0077] Optionally, the multi-functional vehicle further comprises a communication component;

[0078] The warning prompt instruction is used to control the communication component to generate a prompt information and send the prompt information to a mobile terminal associated with the multi-functional vehicle.

[0079] Optionally, the mobile terminal comprises a display interface;

[0080] The mobile terminal is configured to visually display the prompt information in the display interface.

[0081] According to claim 22, the communication mode between the communication component and the mobile terminal includes but is not limited to Bluetooth, WiFi, email, GSM, GPRS, CDMA, WCDMA, LTE, SMS.

[0082] Optionally, the multi-functional vehicle further comprises a display component;

[0083] The warning prompt instruction is used to control the display component to display a warning graphical mark corresponding to the abnormal gear state.

[0084] The warning prompt instruction is also used to control the display component to display the gear state corresponding to each of the left neutral gear and the right neutral gear in response to one of the left neutral gear and the right neutral gear being in a neutral state and the other being in a gear engaged state.

[0085] Optionally, the abnormal gear state includes a neutral driving state and a gear engaged towing state.

[0086] The multifunctional vehicle further includes a gear shifting operation component capable of being controlled to perform gear shifting operation on the neutral gear.

[0087] The safety control instruction is used to control the gear shifting operation component to switch the neutral gear from the neutral state to the gear engaged state when the multifunctional vehicle is determined to be in the neutral driving state.

[0088] The safety control instruction is also used to control the gear shifting operation component to switch the neutral gear from the gear engaged state to the neutral state when the multifunctional vehicle is determined to be in the gear engaged towing state.

[0089] Optionally, the abnormal gear state includes a gear engaged towing state.

[0090] The multifunctional vehicle further includes a lock mechanism capable of being controlled to place the driving component in a locked state in which the driving motor and the driving wheel are unable to rotate.

[0091] The safety control instruction is used to control the lock mechanism to place the driving component in the locked state when the multifunctional vehicle is determined to be in the gear engaged towing state.

[0092] Optionally, the abnormal gear state includes a gear engaged towing state.

[0093] The multifunctional vehicle further includes an electrically controlled brake component used to perform brake operation to make the driving wheel unable to rotate.

[0094] The safety control instruction is used to control the electrically controlled brake component to perform brake operation when the multifunctional vehicle is determined to be in the gear engaged towing state.

[0095] Optionally, the safety control instruction is used to control the electrically controlled brake component to perform brake operation at a preset brake frequency when the multifunctional vehicle is determined to be in the gear engaged towing state.

[0096] Optionally, the preset brake frequency is greater than 0 Hz and less than or equal to 100 Hz.

[0097] Optionally, the preset brake frequency is determined according to at least one of a towing speed of the multi-functional vehicle, a duration of the abnormal gear state, and a voltage value of the driving motor.

[0098] Optionally, the abnormal gear state includes a towing-gear state.

[0099] The safety control instruction is used for controlling the driving motor to output a brake torque when it is determined that the multi-functional vehicle is in the towing-gear state.

[0100] The brake torque can cause the driving wheel to generate a braking rotation or a braking rotation trend.

[0101] The direction of the braking rotation is opposite to the rotation direction of the driving wheel when the multi-functional vehicle is towed.

[0102] Optionally, the safety control instruction is further used for controlling the driving motor to output a brake torque when it is determined that the multi-functional vehicle is in the towing-gear state, the brake torque can cause the driving wheel to generate a braking rotation or a braking rotation trend.

[0103] A multi-functional vehicle, characterized in that it comprises:

[0104] a vehicle frame;

[0105] a carrying mechanism arranged on the vehicle frame and used for carrying an operator;

[0106] at least one driving axle assembly mechanically connected to a driving motor and a driving wheel, and used for transmitting power of the driving motor to the driving wheel to drive the multi-functional vehicle to move;

[0107] a gear shifting mechanism capable of being controlled to make the driving axle assembly in a neutral state or a gear state, the driving axle assembly outputs power of the driving motor to the driving wheel in the gear state, and the driving axle assembly does not output power of the driving motor to the driving wheel in the neutral state;

[0108] a gear recognition assembly attached to the gear shifting mechanism and used for recognizing and determining a gear state of the gear shifting mechanism;

[0109] an in-position state detection assembly arranged on the carrying mechanism and used for detecting in-position state information of the operator, the in-position state information including an in-position state and an off-position state; and

[0110] a controller configured to determine whether the multi-functional vehicle is in an abnormal gear state according to the gear state of the gear shifting mechanism and the in-position state information, and generate a warning prompt instruction and / or a safety control instruction when it is determined that the multi-functional vehicle is in the abnormal gear state.

[0111] Optionally, the method for determining whether the multi-functional vehicle is in an abnormal gear state according to the gear state of the neutral gear mechanism and the in-seat state information comprises:

[0112] in response to the in-seat state information being that a person is in seat and the neutral gear mechanism being in a neutral state, determining that the multi-functional vehicle is in a neutral driving state;

[0113] in response to the in-seat state information being that a person is out of seat and the neutral gear mechanism being in a gear engaged state, determining that the multi-functional vehicle is in a gear engaged trailer state;

[0114] the abnormal gear state comprises the neutral driving state and the gear engaged trailer state.

[0115] Optionally, the multi-functional vehicle comprises a left drive axle assembly and a right drive axle assembly, the left drive axle assembly and the right drive axle assembly are respectively mechanically connected to a corresponding side of a drive motor and a drive wheel, so as to transmit power of the drive motor to the drive wheel;

[0116] the left drive axle assembly and the right drive axle assembly are respectively provided with a left neutral gear mechanism and a right neutral gear mechanism;

[0117] the gear recognition assembly comprises a left gear recognition sub-assembly and a right gear recognition sub-assembly which are respectively provided with the left neutral gear mechanism and the right neutral gear mechanism, and are used for respectively identifying and determining a gear state of the left neutral gear mechanism and the right neutral gear mechanism;

[0118] the method for determining whether the multi-functional vehicle is in an abnormal gear state according to the gear state of the neutral gear mechanism and the in-seat state information comprises:

[0119] in response to identification and determination results of the left gear recognition sub-assembly and the right gear recognition sub-assembly being that one of the left neutral gear mechanism and the right neutral gear mechanism is in a neutral state and the other is in a gear engaged state, determining the in-seat state information;

[0120] in response to the in-seat state information being that a person is in seat, determining that the multi-functional vehicle is in a neutral driving state;

[0121] in response to the in-seat state information being that a person is out of seat, determining that the multi-functional vehicle is in a gear engaged trailer state;

[0122] the abnormal gear state comprises the neutral driving state and the gear engaged trailer state.

[0123] In another aspect, the embodiments of the present specification also provide a multi-functional vehicle, comprising:

[0124] a vehicle frame;

[0125] at least one drive axle assembly mechanically connecting the drive motor and the drive wheel to transmit power of the drive motor to the drive wheel to drive the multi-functional vehicle to move;

[0126] a neutral gear mechanism capable of being controlled to make the drive axle assembly in a neutral gear state or a gear engaged state, the drive axle assembly in the gear engaged state outputs power of the drive motor to the drive wheel, the drive axle assembly in the neutral gear state does not output power of the drive motor to the drive wheel;

[0127] a gear recognition assembly attached to the neutral gear mechanism to recognize and determine a gear state of the neutral gear mechanism;

[0128] a current detection assembly to detect a corresponding current of the drive motor; and

[0129] a controller configured to determine whether the multi-functional vehicle is in an abnormal gear state according to the gear state of the neutral gear mechanism and the current detected by the current detection assembly, and generate a warning prompt instruction and / or a safety control instruction when it is determined that the multi-functional vehicle is in the abnormal gear state.

[0130] Optionally, the method for determining whether the multi-functional vehicle is in the abnormal gear state according to the gear state of the neutral gear mechanism and the current detected by the current detection assembly, comprises:

[0131] in response to the neutral gear mechanism being in the neutral gear state and the current detected by the current detection assembly being a forward current not exceeding a preset current threshold, determining that the multi-functional vehicle is in a neutral gear driving state;

[0132] wherein, the forward current refers to a current in a state that power flows from the power supply system to the drive motor, and a current in a state that power flows from the drive motor to the power supply system is a reverse current;

[0133] in response to the neutral gear mechanism being in the gear engaged state and the current detected by the current detection assembly being a reverse current, determining that the multi-functional vehicle is in a gear engaged towing state;

[0134] the abnormal gear state comprises the neutral gear driving state and the gear engaged towing state.

[0135] Optionally, the multi-functional vehicle comprises a left drive axle assembly and a right drive axle assembly, the left drive axle assembly and the right drive axle assembly are respectively mechanically connected to a left drive motor and a right drive motor and a left drive wheel and a right drive wheel to transmit power of the drive motor to the drive wheel;

[0136] the left drive axle assembly and the right drive axle assembly are respectively provided with a left neutral gear mechanism and a right neutral gear mechanism.

[0137] The gear recognition component includes a left gear recognition sub-component and a right gear recognition sub-component respectively corresponding to the left neutral gear mechanism and the right neutral gear mechanism, and is configured to respectively identify the gears of the left neutral gear mechanism and the right neutral gear mechanism;

[0138] The current detection component is configured to respectively detect the currents of the left driving motor and the right driving motor;

[0139] The method for determining whether the multi-functional vehicle is in an abnormal gear state according to the gears of the neutral gear mechanism and the currents detected by the current detection component includes:

[0140] In response to the identification and determination results of the left gear recognition sub-component and the right gear recognition sub-component being that one of the left neutral gear mechanism and the right neutral gear mechanism is in a neutral state and the other is in a gear state, it is determined whether the currents of the left driving motor and the right driving motor are forward currents, the forward current being a current in a state in which power flows from the power supply system to the driving motor, and a current in a state in which power flows from the driving motor to the power supply system being a reverse current;

[0141] In response to the currents of the left driving motor and the right driving motor both being forward currents, the current of the driving motor corresponding to the neutral gear mechanism in the gear state exceeding a preset current threshold, and the current of the driving motor corresponding to the neutral gear mechanism in the neutral state not exceeding the preset current threshold, it is determined that the multi-functional vehicle is in a neutral driving state;

[0142] In response to the current of the driving motor corresponding to the neutral gear mechanism in the gear state being a reverse current and the driving motor corresponding to the neutral gear mechanism in the neutral state not detecting a current, it is determined that the multi-functional vehicle is in a gear towing state;

[0143] The abnormal gear state includes the neutral driving state and the gear towing state.

[0144] In another aspect, the embodiments of the present specification provide a multi-functional vehicle, including:

[0145] A vehicle frame;

[0146] At least one driving axle assembly mechanically connected to a driving motor and a driving wheel, and configured to transmit power of the driving motor to the driving wheel to drive the multi-functional vehicle to travel;

[0147] a neutral mechanism capable of controllably putting the drive axle assembly in a neutral state or a gear state, the drive axle assembly outputs power of the drive motor to the drive wheels in the gear state, and the drive axle assembly does not output power of the drive motor to the drive wheels in the neutral state;

[0148] a gear recognition component attached to the neutral mechanism, configured to recognize and determine a gear state of the neutral mechanism;

[0149] a current detection component configured to detect a corresponding current of the drive motor;

[0150] a motion state detection component configured to monitor a motion state of the multi-functional vehicle to obtain motion state information; and

[0151] a controller configured to determine whether the multi-functional vehicle is in an abnormal gear state according to the gear state of the neutral mechanism, the current detected by the current detection component, and the motion state information, and generate a warning prompt instruction and / or a safety control instruction when it is determined that the multi-functional vehicle is in the abnormal gear state.

[0152] Optionally, the method for determining whether the multi-functional vehicle is in the abnormal gear state according to the gear state of the neutral mechanism, the current detected by the current detection component, and the motion state information by the controller comprises:

[0153] in response to the neutral mechanism being in the neutral state, determining whether the current detected by the current detection component is a forward current, the forward current being a current in a state that power flows from the power supply system to the drive motor, and a current in a state that power flows from the drive motor to the power supply system being a reverse current;

[0154] in response to the current detected by the current detection component being the forward current, and the motion state detection component not detecting acceleration, determining that the multi-functional vehicle is in a neutral driving state;

[0155] in response to the neutral mechanism being in the gear state, determining whether the current detected by the current detection component is the reverse current;

[0156] in response to the current detected by the current detection component being the reverse current, and the motion state detection component detecting acceleration and / or a steering angle, determining that the multi-functional vehicle is in a gear towing state;

[0157] the abnormal gear state comprises the neutral driving state and the gear towing state.

[0158] Optionally, the multi-functional vehicle comprises a left drive axle assembly and a right drive axle assembly, the left drive axle assembly and the right drive axle assembly are mechanically connected to corresponding left drive motor, right drive motor, left drive wheel and right drive wheel respectively, so as to transmit power of the drive motor to the drive wheel;

[0159] The left drive axle assembly and the right drive axle assembly are correspondingly provided with a left neutral gear mechanism and a right neutral gear mechanism;

[0160] The gear recognition assembly comprises a left gear recognition subassembly and a right gear recognition subassembly which are correspondingly provided with the left neutral gear mechanism and the right neutral gear mechanism respectively, and are used for identifying and determining gears of the left neutral gear mechanism and the right neutral gear mechanism respectively;

[0161] The current detection assembly is used for detecting currents of the left drive motor and the right drive motor respectively;

[0162] The method for determining whether the multi-functional vehicle is in an abnormal gear state according to gears of the neutral gear mechanism, the current detected by the current detection assembly and the motion state information comprises:

[0163] In response to identification and determination results of the left gear recognition subassembly and the right gear recognition subassembly being that one of the left neutral gear mechanism and the right neutral gear mechanism is in a neutral state and the other is in a gear engaged state, it is determined whether the current detected by the current detection assembly is a forward current, the forward current refers to a current in a state that power flows from a power supply system to the drive motor, and a current in a state that power flows from the drive motor to the power supply system is a reverse current;

[0164] In response to currents of the left drive motor and the right drive motor being both forward currents, a current of the neutral gear mechanism in the gear engaged state and the corresponding drive motor exceeding a preset current threshold, and a current of the neutral gear mechanism in the neutral state and the corresponding drive motor not exceeding the preset current threshold, and the motion state detection assembly detecting acceleration and / or a steering angle, it is determined that the multi-functional vehicle is in a neutral driving state;

[0165] In response to a current of the neutral gear mechanism in the gear engaged state and the corresponding drive motor being a reverse current, a current of the neutral gear mechanism in the neutral state and the corresponding drive motor not being detected, and the motion state detection assembly detecting acceleration and / or a steering angle, it is determined that the multi-functional vehicle is in a gear engaged trailer state;

[0166] The abnormal gear state comprises the neutral driving state and the gear engaged trailer state.

[0167] Optionally, the motion state detection assembly comprises an inertial vehicle module.

[0168] Optionally, the multi-functional vehicle comprises at least one universal wheel, and the at least one universal wheel is arranged at the front side of the frame.

[0169] The motion state detection assembly is arranged corresponding to the universal wheel, and the motion state information is obtained by detecting the motion acceleration and / or steering angle of the universal wheel.

[0170] In another aspect, the embodiments of the present specification also provide a garden working vehicle, characterized in that comprising:

[0171] a frame;

[0172] a functional assembly arranged on the frame and configured to perform a corresponding functional operation under control;

[0173] at least one drive axle assembly mechanically connected to a drive motor and a drive wheel, and configured to transmit power of the drive motor to the drive wheel to drive the multi-functional vehicle to move;

[0174] a power supply system configured to provide power for at least the functional assembly and the drive axle assembly;

[0175] a neutral gear mechanism capable of being controlled to make the drive axle assembly in a neutral gear state or a gear engaged state, the drive axle assembly outputs power of the drive motor to the drive wheel in the gear engaged state, and the drive axle assembly does not output power of the drive motor to the drive wheel in the neutral gear state;

[0176] a gear recognition assembly attached to the neutral gear mechanism and configured to identify and determine a gear state of the neutral gear mechanism;

[0177] and a controller configured to determine whether the multi-functional vehicle is in an abnormal gear state according to the gear state of the neutral gear mechanism and an operation state of the multi-functional vehicle, and generate a warning prompt instruction and / or a safety control instruction when it is determined that the multi-functional vehicle is in the abnormal gear state.

[0178] In another aspect, the embodiments of the present specification provide a neutral gear recognition control device applied to a multi-functional vehicle, and the multi-functional vehicle comprises:

[0179] a frame;

[0180] a carrying mechanism arranged on the frame and configured to carry an operator;

[0181] at least one drive axle assembly mechanically connected to a drive motor and a drive wheel, and configured to transmit power of the drive motor to the drive wheel to drive the multi-functional vehicle to move;

[0182] A neutral gear mechanism capable of being controlled to place the drive axle assembly in a neutral state or a gear engaged state, the drive axle assembly outputs power of the drive motor to the drive wheels in the gear engaged state, and the drive axle assembly does not output power of the drive motor to the drive wheels in the neutral state;

[0183] The neutral gear recognition control device comprises:

[0184] A gear recognition assembly attached to the neutral gear mechanism for identifying and determining the gear state of the neutral gear mechanism; and

[0185] A controller configured to determine whether the multi-functional vehicle is in an abnormal gear state according to the gear state of the neutral gear mechanism and the operating state of the multi-functional vehicle, and to generate a warning prompt instruction and / or a safety control instruction when it is determined that the multi-functional vehicle is in the abnormal gear state;

[0186] Or,

[0187] The neutral gear recognition control device comprises:

[0188] The gear recognition assembly, the in-position state detection assembly, or the current detection assembly, or the current detection assembly and the motion state detection assembly, and the controller;

[0189] The in-position state detection assembly is arranged on the load bearing mechanism for detecting in-position state information of the operator, and the in-position state information includes an in-position state and an off-position state;

[0190] The current detection assembly is configured to detect the corresponding current of the drive motor;

[0191] The motion state detection assembly is configured to monitor the motion state of the multi-functional vehicle to obtain motion state information;

[0192] The controller is configured to determine whether the multi-functional vehicle is in an abnormal gear state according to the gear state of the neutral gear mechanism and the in-position state information; or

[0193] The controller is configured to determine whether the multi-functional vehicle is in an abnormal gear state according to the gear state of the neutral gear mechanism and the current detected by the current detection assembly; or

[0194] The controller is configured to determine whether the multi-functional vehicle is in an abnormal gear state according to the gear state of the neutral gear mechanism, the current detected by the current detection assembly, and the motion state information;

[0195] The controller is further configured to generate a warning prompt instruction and / or a safety control instruction when it is determined that the multi-functional vehicle is in an abnormal gear state.

[0196] From the above, the multifunctional vehicle, garden operation vehicle and neutral gear identification control device provided by the embodiments of the present specification have the following beneficial technical effects:

[0197] The multifunctional vehicle, garden operation vehicle and neutral gear identification control device can accurately identify the gear position of the neutral gear mechanism by using the gear identification assembly or the neutral gear identification control device, and determine whether the multifunctional vehicle is in an abnormal gear position state in combination with the working condition of the whole vehicle. In response to the abnormal gear position state, timely warning and prompt are performed, and active safety management and control are executed, so that the operation and driving experience can be optimized, and damage to the vehicle caused by operating the vehicle in the abnormal gear position state can be avoided, and the safety and stability of the vehicle are significantly improved. [SUMMARY]

[0198] The features and advantages of the present application will be more clearly understood through reference to the following drawings, which are illustrative and not intended to be limiting on the present application, in which:

[0199] FIG. 1 shows a structural schematic diagram of a multifunctional vehicle or garden operation vehicle provided by one or more optional embodiments of the present specification;

[0200] FIG. 2 shows a structural schematic diagram of a driving mechanism in a multifunctional vehicle or garden operation vehicle provided by one or more optional embodiments of the present specification;

[0201] FIG. 3 shows a system block diagram of a multifunctional vehicle provided by one or more optional embodiments of the present specification;

[0202] FIG. 4 shows a structural schematic diagram of a driving axle assembly in a multifunctional vehicle provided by one or more optional embodiments of the present specification;

[0203] FIG. 5 shows a functional block diagram of the gear identification assembly in a multifunctional vehicle provided by one or more optional embodiments of the present specification;

[0204] FIG. 6 shows a functional block diagram of the gear identification assembly including a Hall sensor module in a multifunctional vehicle provided by one or more optional embodiments of the present specification;

[0205] FIG. 7-A shows a first spatial positional relationship schematic diagram of a magnetic element and a Hall sensing element in a multifunctional vehicle provided by one or more optional embodiments of the present specification;

[0206] FIG. 7-B shows a second spatial positional relationship schematic diagram of a magnetic element and a Hall sensing element in a multifunctional vehicle provided by one or more optional embodiments of the present specification;

[0207] FIG. 8 illustrates a functional block diagram of the gear recognition assembly including an infrared sensor module in a multi-functional vehicle according to one or more embodiments of the present disclosure;

[0208] FIG. 9-A illustrates a first spatial relationship between an infrared emitter and an infrared receiver in a multi-functional vehicle according to one or more embodiments of the present disclosure;

[0209] FIG. 9-B illustrates a second spatial relationship between an infrared emitter and an infrared receiver in a multi-functional vehicle according to one or more embodiments of the present disclosure;

[0210] FIG. 10 illustrates a functional block diagram of the gear recognition assembly including an infrared sensor module and an infrared reflector plate in a multi-functional vehicle according to one or more embodiments of the present disclosure;

[0211] FIG. 11-A illustrates a first spatial relationship between an infrared sensor module and an infrared reflector plate in a multi-functional vehicle according to one or more embodiments of the present disclosure;

[0212] FIG. 11-B illustrates a second spatial relationship between an infrared sensor module and an infrared reflector plate in a multi-functional vehicle according to one or more embodiments of the present disclosure;

[0213] FIG. 12 illustrates a functional block diagram of the gear recognition assembly including a laser sensor module in a multi-functional vehicle according to one or more embodiments of the present disclosure;

[0214] FIG. 13-A illustrates a first spatial relationship between a laser emitter and a laser receiver in a multi-functional vehicle according to one or more embodiments of the present disclosure;

[0215] FIG. 13-B illustrates a second spatial relationship between a laser emitter and a laser receiver in a multi-functional vehicle according to one or more embodiments of the present disclosure;

[0216] FIG. 14 illustrates a functional block diagram of the gear recognition assembly including a laser sensor module and a laser reflector plate in a multi-functional vehicle according to one or more embodiments of the present disclosure;

[0217] FIG. 15-A illustrates a first spatial relationship between a laser sensor module and a laser reflector plate in a multi-functional vehicle according to one or more embodiments of the present disclosure;

[0218] FIG. 15-B illustrates a second spatial relationship between a laser sensor module and a laser reflector plate in a multi-functional vehicle according to one or more embodiments of the present disclosure;

[0219] FIG. 16 shows a functional block diagram of the gear recognition assembly including an image recognition module in a multi-functional vehicle according to one or more optional embodiments of the present disclosure;

[0220] FIG. 17 shows a method of identifying an abnormal gear state according to the neutral gear mechanism gear and the vehicle operating state by the controller in a multi-functional vehicle according to one or more optional embodiments of the present disclosure;

[0221] FIG. 18 shows another structure diagram of the drive mechanism in a multi-functional vehicle according to one or more optional embodiments of the present disclosure;

[0222] FIG. 19 shows another method of identifying an abnormal gear state according to the neutral gear mechanism gear and the vehicle operating state by the controller in a multi-functional vehicle according to one or more optional embodiments of the present disclosure;

[0223] FIG. 20 shows a system block diagram of a multi-functional vehicle including a speaker according to one or more optional embodiments of the present disclosure;

[0224] FIG. 21 shows a system block diagram of a multi-functional vehicle including a display assembly according to one or more optional embodiments of the present disclosure;

[0225] FIG. 22 shows a structure diagram of a multi-functional vehicle or a garden working vehicle from another viewing angle according to one or more optional embodiments of the present disclosure;

[0226] FIG. 23-A shows a display interface diagram of a display assembly in a multi-functional vehicle according to one or more optional embodiments of the present disclosure;

[0227] FIG. 23-B shows another display interface diagram of a display assembly in a multi-functional vehicle according to one or more optional embodiments of the present disclosure;

[0228] FIG. 24 shows a system block diagram of a multi-functional vehicle including a communication assembly according to one or more optional embodiments of the present disclosure;

[0229] FIG. 25 shows a system block diagram of a multi-functional vehicle including a gear shifting operation assembly according to one or more optional embodiments of the present disclosure;

[0230] FIG. 26 shows a system block diagram of a multi-functional vehicle including a lockup mechanism according to one or more optional embodiments of the present disclosure;

[0231] FIG. 27 shows a system block diagram of a multi-functional vehicle including an electrically controlled brake assembly according to one or more optional embodiments of the present disclosure;

[0232] Fig. 28 shows a schematic diagram of a method for identifying an abnormal gear state according to the information of the gear position and the in-place state of the neutral gear mechanism in a multi-functional vehicle according to an embodiment of the present specification;

[0233] Fig. 29 shows a schematic diagram of another method for identifying an abnormal gear state according to the information of the gear position and the in-place state of the neutral gear mechanism in a multi-functional vehicle according to an embodiment of the present specification;

[0234] Fig. 30 shows a schematic diagram of a method for identifying an abnormal gear state according to the information of the gear position and the driving motor current in a multi-functional vehicle according to an embodiment of the present specification;

[0235] Fig. 31 shows a schematic diagram of another structure of a driving mechanism in a multi-functional vehicle according to an embodiment of the present specification;

[0236] Fig. 32 shows a schematic diagram of another method for identifying an abnormal gear state according to the information of the gear position and the driving motor current in a multi-functional vehicle according to an embodiment of the present specification;

[0237] Fig. 33 shows a functional block diagram of a motion state detection assembly in a multi-functional vehicle according to an embodiment of the present specification;

[0238] Fig. 34 shows a schematic diagram of a method for identifying an abnormal gear state according to the information of the gear position, the driving motor current and the motion state in a multi-functional vehicle according to an embodiment of the present specification;

[0239] Fig. 35 shows a schematic diagram of another method for identifying an abnormal gear state according to the information of the gear position, the driving motor current and the motion state in a multi-functional vehicle according to an embodiment of the present specification. [DETAILED DESCRIPTION]

[0240] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0241] The charging type mower has the advantages of all-weather zero emission, zero oil consumption, low noise, simple maintenance (no gasoline, no oil, no air filter, no spark plug, no fuel storage, etc.) compared with the traditional fuel type mower. In the charging type mower, the power system adopts a motor instead of a fuel engine, the driving wheel motors can be controlled respectively, the straight driving, reverse driving, turning and zero steering motion control of the whole vehicle can be realized, the structural complexity of the whole vehicle is reduced, and the control of the whole vehicle is more flexible.

[0242] The driving device in the charging type mower includes a neutral gear mechanism, which can realize transmission of power from the driving motor to the driving wheel or cut off the power transmission. The gear position of the neutral gear mechanism needs to be set according to different working conditions, and an abnormal gear position state may affect the driving experience of the operator, and may even damage the mower.

[0243] To this end, the purpose of the embodiments of the present specification is to provide a multi-functional vehicle and a neutral gear recognition control device, which can accurately recognize the gear position of the neutral gear mechanism and determine whether the multi-functional vehicle is in an abnormal gear position state in combination with the working condition of the whole vehicle, timely warning is given to the abnormal gear position state, and active safety control is performed, so as to optimize the operation driving experience, avoid damage to the vehicle caused by operating the vehicle in the abnormal gear position state, and significantly improve the safety and stability of the vehicle.

[0244] Based on the above purpose, in one aspect, the embodiments of the present specification provide a multi-functional vehicle.

[0245] As shown in FIG. 1, the multi-functional vehicle provided by one or more optional embodiments of the present specification comprises:

[0246] A vehicle frame 100, a function mechanism 102 and a driving mechanism 104 connected to the vehicle frame, and a power supply system 106 for supplying power to the function mechanism 102 and the driving mechanism 104.

[0247] The vehicle frame 100 extends at least partially along the front-rear direction, and a bearing mechanism 1000 can be provided on the vehicle frame 100. The bearing mechanism 1000 is used to bear the operator of the multi-functional vehicle, and can include at least one of a seat or a standing platform. In FIG. 1, only the case where the bearing mechanism 1000 includes a seat is exemplarily shown. The seat or the standing platform is used for the operator to sit or stand. That is, the multi-functional vehicle can provide a riding working mode or a standing working mode. Further, the structure of the seat and the standing platform can be flexibly switched, that is, the working mode of the multi-functional vehicle can be flexibly switched between the riding working mode and the standing working mode according to the actual needs of the working user. A handheld operation assembly can also be provided on the vehicle frame 100, and based on the handheld operation assembly, the multi-functional vehicle can also provide a hand-push working mode.

[0248] The function mechanism 102 includes an output member for outputting power to realize a specific function. In some alternative embodiments, the function mechanism 102 is a mowing element for realizing a mowing function. The function mechanism is also connected to the vehicle frame 100. The function mechanism 102 further includes a function motor for driving the mowing element to rotate at a high speed, and a control module corresponding to the function motor.

[0249] In some alternative embodiments, the function mechanism 102 can include one or more mowing elements, and one or more function motors corresponding to the mowing elements. For example, in some embodiments, the mowing element is a 3-blade, and the number of corresponding function motors is also set to 3. In some specific implementations, the function mechanism 102 further includes a control module corresponding to the mowing motor. The control module includes a control chip, such as an MCU, ARM, etc.

[0250] In some alternative embodiments, the function mechanism 102 can also be a cleaning element for realizing a cleaning function. The function mechanism further includes a function motor for driving the cleaning element, and a control module corresponding to the function motor.

[0251] It can be understood that, in some alternative embodiments, the function mechanism can also be replaced by other functional components, such as snow sweeping, snow blowing, snow shoveling, flushing, etc. Those skilled in the art should be able to adapt various functional components without creative labor, and all of the above should be included in the protection scope of the present embodiments.

[0252] As shown in FIG. 2, the driving mechanism 104 is used to drive the multifunctional vehicle to travel in a garden scene such as a lawn, a garden, a fence, a green, or other road surfaces. The driving mechanism 104 includes at least one driving axle assembly 1040, which is mechanically connected to a driving motor 1042 and a driving wheel 1044, to transmit power of the driving motor 1042 to the driving wheel 1044 to drive the multifunctional vehicle to travel.

[0253] The driving wheel 1044 can be provided in multiple numbers, and the number of driving motors 1042 can correspond to the number of driving wheels 1044. In some alternative embodiments, the driving mechanism 104 includes a first driving wheel and a second driving wheel, and two corresponding driving motors 1042. When the two driving motors 1042 drive the corresponding driving wheels 1044 to rotate at different powers, a speed difference is generated between the first driving wheel and the second driving wheel, so that the multifunctional vehicle can be turned. In some embodiments, the driving mechanism 104 further includes a travel control module for controlling the driving motor 1042.

[0254] The functional mechanism 102 and the driving mechanism 104 are loads in the multifunctional vehicle, and are powered by the power supply system 106. Specifically, the power supply system 106 is used to power at least the functional motor in the functional mechanism 102 and the driving motor 1042 in the driving mechanism 104. The power supply system 106 can also power other electronic components in the multifunctional vehicle, such as the control module corresponding to the functional motor in the functional mechanism 102, the driving control module corresponding to the driving motor 1042 in the driving mechanism 104, and lighting systems, human-computer interaction systems, etc. that can be provided in the vehicle.

[0255] The power supply system 106 is arranged on the vehicle frame 100 and detachably connected to the vehicle frame 100. The power supply system 106 includes a plurality of battery units 1060. The plurality of battery units can be selected from at least one of a first specification battery pack and a second specification battery pack. The first specification battery pack and the second specification battery pack differ in specification, including but not limited to differences in battery pack capacity, voltage, internal resistance, weight, size, energy density, cell type, state of charge information, and state of health information.

[0256] In some optional embodiments, the first specification battery pack and the second specification battery pack differ in battery pack capacity. The capacity of the first specification battery pack is greater than the capacity of the second specification battery pack. The second specification battery pack is configured to provide power for handheld garden tools. For example, the second specification battery pack can provide power for garden tools such as grass trimmers, branch trimmers, blowers, chain saws, etc. In addition, the second specification battery pack can also provide power for torque output tools such as electric drills and electric hammers, sawing tools such as electric circular saws, jigsaws, and reciprocating saws, or grinding tools such as angle grinders and sanders.

[0257] In some optional embodiments, the first specification battery pack and the second specification battery pack differ in the type of battery cell selected. For example, the first specification battery pack and the second specification battery pack can be selected to use lithium iron phosphate battery cells and ternary lithium battery cells, respectively. The plurality of battery units in the power supply assembly can also use nickel-chromium battery cells, lead-acid battery cells, graphene battery cells, etc.

[0258] The plurality of battery units of the power supply assembly are selected from at least one of a first specification battery pack and a second specification battery pack, which allows the multifunctional vehicle to be compatible with different specifications of battery packs, meet the demand for high-power work, and also be able to adapt to handheld electric garden tools, making the work of garden workers more flexible.

[0259] The driving mechanism 104 further comprises a neutral gear mechanism 1046. The neutral gear mechanism 1046 can be controlled to make the driving axle assembly 1040 in a neutral state or a gear engaged state, the driving axle assembly 1040 outputs the power of the driving motor 1042 to the driving wheel 1044 in the gear engaged state, and the driving axle assembly 1040 does not output the power of the driving motor 1042 to the driving wheel 1044 in the neutral state.

[0260] The gear of the neutral gear mechanism 1046 needs to be set for different working conditions. In the normal working driving condition, the neutral gear mechanism 1046 needs to be kept in the gear engaged state to ensure that the power of the driving motor 1042 can be smoothly transmitted to the driving wheel 1044 to drive the multi-functional vehicle to normally travel. If the neutral gear mechanism 1046 is in the neutral state in the normal working driving condition, the driving motor 1042 will be idling, and the whole vehicle cannot normally travel, which will affect the driving experience of the operator.

[0261] In the stationary shutdown working condition, the multi-functional vehicle can be pushed / pulled (towed) by external force. In this case, the neutral gear mechanism 1046 needs to be kept in the neutral state to ensure that the power transmission between the driving wheel 1044 and the driving motor 1042 is cut off. If the neutral gear mechanism 1046 is in the gear engaged state in the stationary shutdown condition, the rotation of the driving wheel 1044 will drive the driving motor 1042 to rotate when the vehicle is pushed / pulled (towed) by external force, so that the driving motor 1042 is in the power generation state. If the towing speed is too fast, the rotating speed of the driving motor 1042 will also be high, and the voltage generated by the driving motor 1042 in the power generation state will also be very high, which will exceed the maximum withstand voltage of the related circuit components, causing damage to the components and greatly affecting the stability and reliability of the multi-functional vehicle.

[0262] As shown in FIG. 3, it is a system architecture schematic diagram of a multi-functional vehicle provided by one or more optional embodiments of the present specification.

[0263] The multi-functional vehicle further comprises a gear recognition assembly 108 for recognizing the neutral gear mechanism 1046 to determine the gear of the neutral gear mechanism 1046.

[0264] The multi-functional vehicle further comprises a controller 1010. The controller 1010 can be selected from a vehicle control unit VUC, a power management system controller BMS of the whole vehicle, a motor controller BMS, a combined control assembly, or a separately arranged control module.

[0265] The controller 1010 is configured to determine whether the multi-functional vehicle is in an abnormal gear state according to the gear of the neutral gear mechanism 1046 and the operating state of the multi-functional vehicle, and generate a warning prompt instruction and / or a safety control instruction when it is determined that the multi-functional vehicle is in an abnormal gear state.

[0266] If the multi-functional vehicle is in a normal working driving condition, the neutral gear mechanism 1046 is in a neutral state, and it can be determined that the multi-functional vehicle is in an abnormal gear state of neutral driving.

[0267] If the multi-functional vehicle is in a stationary stop condition, the neutral gear mechanism 1046 is in a gear state, and it can be determined that the multi-functional vehicle is in an abnormal gear state of gear towing.

[0268] The warning prompt instruction is used to control the multi-functional vehicle to issue a warning to remind the operator to handle the abnormal gear state. The safety control instruction is used to control the safety of the multi-functional vehicle to avoid further damage and impact of the abnormal gear state on the multi-functional vehicle.

[0269] The multi-functional vehicle uses the gear recognition component to recognize the gear of the neutral gear mechanism and determines whether the multi-functional vehicle is in an abnormal gear state in combination with the operating state of the vehicle. The abnormal gear state is timely warned and prompted, and active safety control is performed, so as to optimize the operation and driving experience, avoid damage to the vehicle caused by operating the vehicle in the abnormal gear state, and significantly improve the safety and stability of the vehicle.

[0270] As shown in FIG. 4, in a multi-functional vehicle provided by one or more optional embodiments of the present application, the neutral gear mechanism 1046 includes an operation part 46a and an action part 46b. The action part 46b can make the drive axle assembly 1040 in a neutral state or a gear state under the action of the operation part 46a.

[0271] The drive axle assembly 1040 includes a plurality of shafts, at least including:

[0272] An input shaft 401 is mechanically connected to the drive motor 1042, and the drive motor 1042 drives the input shaft 401 to rotate.

[0273] An output shaft 402 is connected to the input shaft 401 and the drive wheel 1044 (not shown in FIG. 4), and is used to output the power of the drive motor 1042 to the drive wheel 1044.

[0274] Referring to FIG. 4, in some optional embodiments, the drive axle assembly 1040 can include three shafts, namely the input shaft 401, the output shaft 402, and an intermediate shaft 405 arranged between the former two.

[0275] The neutral gear assembly 1046 is arranged on one of the plurality of shafts. For example, the neutral gear assembly 1046 is arranged on the input shaft 401. It is understood by those skilled in the art that the neutral gear assembly 1046 can also be arranged on the intermediate shaft 405 or the output shaft 402.

[0276] The shaft on which the neutral gear assembly 1046 is arranged is provided with a movable gear 403 that can transmit torque and slide relative to the shaft, and the shaft adjacent to the shaft on which the neutral gear assembly 1046 is arranged is provided with a fixed gear 404. As shown in FIG. 4, the movable gear 403 is arranged on the shaft of the input shaft 401, and the fixed gear 404 is arranged on the shaft of the intermediate shaft 405. The engagement relationship between the two changes as the position of the movable gear 403 on the input shaft 401 changes.

[0277] The action part 46b can be controlled to drive the movable gear 403 to slide along the shaft so that the movable gear 403 engages or disengages with the fixed gear 404. When the movable gear 403 engages with the fixed gear 404, the drive axle assembly 1040 is in a gear engaged state. When the movable gear 403 disengages from the fixed gear 404, the drive axle assembly 1040 is in a neutral state.

[0278] Referring to FIG. 4, by operating the operation part 46a, the action part 46b can change the position of the movable gear 403 on the input shaft 401.

[0279] When the operation part 46a is in the first position, the action part 46b drives the movable gear 403 to the first gear position, and the movable gear 403 engages with the fixed gear 404. As shown in FIG. 4, the movable gear 403 engages with the fixed gear 404. When the movable gear 403 engages with the fixed gear 404, the output power of the drive motor 1042 can be smoothly transmitted to the drive wheel 1044 through the input shaft 401, the intermediate shaft 405, and the output shaft 403. In this case, the drive axle assembly 1040 is in a gear engaged state.

[0280] When the operation part 46a is in the second position, the action part 46b drives the movable gear 403 to the second gear position, and the movable gear 403 disengages from the fixed gear 404. When the movable gear 403 disengages from the fixed gear 404, the power of the drive motor 1042 cannot be smoothly transmitted to the drive wheel 1044. In this case, the drive axle assembly 1040 is in a neutral state.

[0281] In some optional embodiments, the gear recognition component 108 is arranged for the operation part 46a to recognize the position state of the operation part 46a. When the operation part 46a is detected in the first position, it can be determined that the drive axle assembly 1040 is in the neutral state; when the operation part 46a is detected in the second position, it can be determined that the drive axle assembly 1040 is in the gear state.

[0282] As shown in FIG. 5, in a multi-functional vehicle provided in one or more optional embodiments of the present description, the gear recognition component 108 includes a gear switch module 801. The communication state of the gear switch module 801 is arranged to correspond to the position state of the operation part 46a.

[0283] When the operation part 46a is in the first position, the gear switch module 801 is in the first communication state; when the operation part 46a is in the second position, the gear switch module 801 is in the second communication state.

[0284] The gear recognition component 108 can recognize the position state of the operation part 46a according to the communication state of the gear switch module 801, so as to determine the gear state of the drive axle assembly 1040.

[0285] As shown in FIG. 6, in a multi-functional vehicle provided in one or more optional embodiments of the present description, the gear recognition component 108 includes a Hall sensor module 802.

[0286] The Hall sensor module 802 includes a magnetic element 8021 and a Hall sensing element 8022. One of the magnetic element 8021 and the Hall sensing element 8022 is arranged on the operation part 46a, and the other is fixedly arranged relative to the drive axle assembly 1040 or the vehicle frame 100, so that the spatial positional relationship between the magnetic element 8021 and the Hall sensing element 8022 changes with the change of the position state of the operation part 46a.

[0287] When the operation part 46a is in the first position, the magnetic element 8021 and the Hall sensing element 8022 are in the first spatial positional relationship; when the operation part 46a is in the second position, the magnetic element 8021 and the Hall sensing element 8022 are in the second spatial positional relationship.

[0288] As shown in FIGS. 7-A and 7-B, they are schematic diagrams of the positional relationship between the magnetic element 8021 and the Hall sensing element 8022.

[0289] In some optional embodiments, the magnetic element 8021 can be attached to the operation part 46a, and the Hall element 8022 can be fixedly arranged on the drive axle assembly 1040 or the vehicle frame 100 close to the neutral gear mechanism 1046.

[0290] When the operation part 46a is in the first position, the drive axle assembly 1040 is in the engaged state, and the magnetic element 8021 attached to the operation part 46a is in the first spatial position relationship of being opposite to the Hall element 8022, as shown in FIG. 7-A.

[0291] When the operation part 46a is in the second position, the drive axle assembly 1040 is in the neutral state, and the magnetic element 8021 attached to the operation part 46a is in the second spatial position relationship of being offset from the Hall element 8022, as shown in FIG. 7-B.

[0292] Corresponding to the different spatial position relationships between the magnetic element 8021 and the Hall element 8022, the Hall element 8022 can output different induction signals. The gear recognition assembly 108 can recognize the position state of the operation part 46a according to the different induction signals output by the Hall element 8022, so as to determine the gear state of the drive axle assembly 1040.

[0293] It should be noted that the magnetic element 8021 and the Hall element 8022 can be arranged in exchange, i.e., the magnetic element 8021 is fixedly arranged on the drive axle assembly 1040 or the vehicle frame 100, and the Hall element 8022 is attached to the operation part 46a. Moreover, the spatial position relationship combination of the magnetic element 8021 and the Hall element 8022 can also be flexibly adjusted, and in addition to the opposite / offset position relationship, the position relationship combination can also include the close / far position relationship.

[0294] The corresponding combination mode between the different spatial position relationships and the position of the operation part 46a and the gear state of the neutral gear mechanism 1046 is various. The above embodiments are only exemplary. Specifically, the corresponding combination mode can also include: the magnetic element 8021 and the Hall element 8022 are opposite corresponding to the neutral state, and offset corresponding to the engaged state; the magnetic element 8021 and the Hall element 8022 are close corresponding to the engaged state, and far away corresponding to the neutral state, and the like. The logical relationship of the corresponding combination between the spatial position relationship and the position of the operation part 46a and the gear state of the neutral gear mechanism 1046 can be flexibly adjusted and reversed, and the specific adjustment depends on the setting of the corresponding hardware circuit of the Hall element 8022. The hardware circuit can adopt a digital circuit.

[0295] As shown in FIG. 8, in a multi-functional vehicle according to one or more optional embodiments of the present description, the gear recognition assembly 108 includes an infrared sensor module 803.

[0296] In some optional embodiments, the infrared sensor module 803 includes an infrared emitter 8031 and an infrared receiver 8032. One of the infrared emitter 8031 and the infrared receiver 8032 is arranged on the operation part 46a, and the other is fixedly arranged on the drive axle assembly 1040 or the vehicle frame 100, so that the spatial positional relationship between the infrared emitter 8031 and the infrared receiver 8032 changes with the change of the position state of the operation part 46a.

[0297] When the operation part 46a is in the first position, the infrared emitter 8031 and the infrared receiver 8032 are in a first spatial positional relationship, and in the first spatial positional relationship, the infrared receiver 8032 can receive the infrared signal emitted by the infrared emitter 8031.

[0298] When the operation part 46a is in the second position, the infrared emitter 8031 and the infrared receiver 8032 are in a second spatial positional relationship, and in the second spatial positional relationship, the infrared receiver 8032 cannot receive the infrared signal emitted by the infrared emitter 8031.

[0299] As shown in FIGS. 9-A and 9-B, the positional relationship between the infrared emitter 8031 and the infrared receiver 8032 is shown schematically.

[0300] In some optional embodiments, the infrared emitter 8031 can be attached to the operation part 46a, and the infrared receiver 8032 can be fixedly arranged on the drive axle assembly 1040 or the vehicle frame 100 close to the neutral gear mechanism 1046.

[0301] When the operation part 46a is in the first position, the drive axle assembly 1040 is in the gear engaged state, and the infrared emitter 8031 attached to the operation part 46a and the infrared receiver 8032 are in a directly opposite first spatial positional relationship, as shown in FIG. 9-A. At this time, the infrared receiver 8032 can receive the infrared signal from the infrared emitter 8031.

[0302] When the operation part 46a is in the second position, the drive axle assembly 1040 is in the neutral gear state, and the infrared emitter 8031 attached to the operation part 46a and the infrared receiver 8032 are in a deviated second spatial positional relationship, as shown in FIG. 9-B. At this time, the infrared receiver 8032 cannot receive the infrared signal from the infrared emitter 8031.

[0303] The gear recognition component 108 can recognize the position state of the operating part 46a according to whether the infrared receiver 8032 receives an infrared signal, thereby determining the gear state of the drive axle assembly 1040.

[0304] It should be noted that the infrared transmitter 8031 and the infrared receiver 8032 can exchange the setting positions, i.e., the infrared transmitter 8031 is fixedly set on the drive axle assembly 1040 or the vehicle frame 100, and the infrared receiver 8032 is attached to the operating part 46a. The spatial position relationship combination of the infrared transmitter 8031 and the infrared receiver 8032 can also be flexibly adjusted, in addition to the directly opposite / offset position relationship, and can also include the close / far position relationship.

[0305] When the infrared transmitter 8031 and the infrared receiver 8032 are set in the close / far position relationship, the strength of the infrared signal received by the infrared receiver 8032 is different. The gear recognition component 108 can recognize the position state of the operating part 46a according to the strength of the infrared signal received by the infrared receiver 8032.

[0306] Those skilled in the art can understand that, similar to the working mode of the Hall sensor module 802, the different spatial position relationships between the infrared transmitter 8031 and the infrared receiver 8032 in the infrared sensor module 803 and the corresponding combination modes between the position of the operating part 46a and the gear state of the neutral gear mechanism 1046 are also various. The corresponding combination logic relationship between the spatial position relationship and the position of the operating part 46a and the gear state of the neutral gear mechanism 1046 can be flexibly adjusted.

[0307] As shown in FIG. 10, in a multifunctional vehicle provided in one or more optional embodiments of the present specification, the gear recognition component 108 can further include an infrared reflecting plate 803a.

[0308] One of the infrared sensor module 803 and the infrared reflecting plate 803a is set on the operating part 46a, and the other is fixedly set on the drive axle assembly 1040 or the vehicle frame 100, so that the spatial position relationship between the infrared sensor module 803 and the infrared reflecting plate 803a changes with the change of the position state of the operating part 46a.

[0309] When the operation part 46a is in the first position, the infrared sensor module 8093 and the infrared reflecting plate 803a are in a first spatial positional relationship. In the first spatial positional relationship, the infrared signal emitted by the infrared emitter 8031 in the infrared sensor module 803 can be reflected by the infrared reflecting plate 803a to the infrared receiver 8032.

[0310] When the operation part 46a is in the second position, the infrared sensor module 803 and the infrared reflecting plate 803a are in a second spatial positional relationship. In the second spatial positional relationship, the infrared signal emitted by the infrared emitter 8031 in the infrared sensor module 803 cannot be reflected by the infrared reflecting plate 803a to the infrared receiver 8032.

[0311] FIGS. 11-A and 11-B are schematic diagrams of the positional relationship between the infrared sensor module 803 and the infrared reflecting plate 803a. In FIG. 11-A, the infrared sensor module 803 and the infrared reflecting plate 803a are directly opposite each other. In FIG. 11-B, the infrared sensor module 803 and the infrared reflecting plate 803a are offset from each other.

[0312] Similar to the above embodiments, in other optional embodiments, the infrared sensor module 803 can be attached to the operation part 46a, and the infrared reflecting plate 803a can be fixedly arranged on the drive axle assembly 1040 or the vehicle frame 100 near the neutral gear mechanism 1046. The positions of the two can be exchanged. When the operation part 46a is in different positions, the spatial positional relationship between the infrared sensor module 803 and the infrared reflecting plate 803a is different. Corresponding to different spatial positional relationships, the infrared receiver 8032 in the infrared sensor module 803 can or cannot receive an infrared signal, or the received infrared signal can have different strengths. The gear recognition assembly 108 can recognize the position state of the operation part 46a according to whether the infrared receiver 8032 receives an infrared signal or not, or the strength of the received infrared signal, and determine the gear state of the drive axle assembly 1040.

[0313] Those skilled in the art can understand that, similar to the working mode of the Hall sensor module 802, the different spatial positional relationships between the infrared sensor module 803 and the infrared reflecting plate 803a and the corresponding combination modes of the position of the operation part 46a and the gear state of the neutral gear mechanism 1046 are also various. The corresponding combination logic relationship between the spatial positional relationship and the position of the operation part 46a and the gear state of the neutral gear mechanism 1046 can be flexibly adjusted.

[0314] As shown in FIG. 12, in a multi-functional vehicle provided in one or more optional embodiments of the present description, the gear recognition assembly 108 comprises a laser sensor module 804.

[0315] In some optional embodiments, the laser sensor module 804 comprises a laser emitter 8041 and a laser receiver 8042. One of the laser emitter 8041 and the laser receiver 8042 is arranged on the operation part 46a, and the other is fixedly arranged on the drive axle assembly 1040 or the vehicle frame 100, so that the spatial positional relationship between the laser emitter 8041 and the laser receiver 8042 changes with the change of the position state of the operation part 46a.

[0316] When the operation part 46a is in the first position, the laser emitter 8041 and the laser receiver 8042 are in a first spatial positional relationship, and in the first spatial positional relationship, the laser receiver 8042 can receive the laser signal emitted by the laser emitter 8041.

[0317] When the operation part 46a is in the second position, the laser emitter 8041 and the laser receiver 8042 are in a second spatial positional relationship, and in the second spatial positional relationship, the laser receiver 8042 cannot receive the laser signal emitted by the laser emitter 8041.

[0318] As shown in FIGS. 13-A and 13-B, the positional relationship between the laser emitter 8041 and the laser receiver 8042 is shown schematically.

[0319] In some optional embodiments, the laser emitter 8041 can be attached to the operation part 46a, and the laser receiver 8042 can be fixedly arranged on the drive axle assembly 1040 or the vehicle frame 100 close to the neutral gear mechanism 1046.

[0320] When the operation part 46a is in the first position, the drive axle assembly 1040 is in the gear engagement state, and the laser emitter 8041 attached to the operation part 46a and the laser receiver 8042 are in a first spatial positional relationship of directly facing each other, as shown in FIG. 13-A. At this time, the laser receiver 8042 can receive the laser signal from the laser emitter 8041.

[0321] When the operation part 46a is in the second position, the drive axle assembly 1040 is in the neutral state, and the laser emitter 8041 attached to the operation part 46a is in the offset second spatial position relationship with the laser receiver 8042, as shown in FIG. 13-B. At this time, the laser receiver 8042 cannot receive the laser signal from the laser emitter 8041.

[0322] The gear recognition assembly 108 can recognize the position state of the operation part 46a according to whether the laser receiver 8042 receives the laser signal, so as to determine the gear state of the drive axle assembly 1040.

[0323] It should be noted that the laser emitter 8041 and the laser receiver 8042 can be exchanged in the setting position, i.e., the laser emitter 8041 is fixedly arranged on the drive axle assembly 1040 or the vehicle frame 100, and the laser receiver 8042 is attached to the operation part 46a. The spatial position relationship combination of the laser emitter 8041 and the laser receiver 8042 can also be flexibly adjusted, and in addition to the opposite / offset position relationship, the position relationship combination can also include the close / far position relationship.

[0324] When the laser emitter 8041 and the laser receiver 8042 are arranged in the close / far position relationship, the intensity of the laser signal received by the laser receiver 8042 is different. The gear recognition assembly 108 can recognize the position state of the operation part 46a according to the intensity of the laser signal received by the laser receiver 8042.

[0325] It can be understood by those skilled in the art that, similar to the working mode of the Hall sensor module 802, the different spatial position relationships between the laser emitter 8041 and the laser receiver 8042 in the laser sensor module 804 and the corresponding combination modes of the position of the operation part 46a and the gear state of the neutral mechanism 1046 are also various. The corresponding combination logic relationship between the spatial position relationship and the position of the operation part 46a and the gear state of the neutral mechanism 1046 can be flexibly adjusted.

[0326] As shown in FIG. 14, in a multifunctional vehicle provided in one or more optional embodiments of the present specification, the gear recognition assembly 108 can further include a laser reflection plate 804a.

[0327] The laser sensor module 804 and one of the laser reflection plate 804 are arranged on the operation part 46a, and the other is arranged fixedly relative to the drive axle assembly 1040 or the vehicle frame 100, so that the spatial positional relationship between the laser sensor module 804 and the laser reflection plate 804a changes with the change of the position state of the operation part 46a.

[0328] When the operation part 46a is in the first position, the laser sensor module 8093 and the laser reflection plate 804a are in the first spatial positional relationship, and in the first spatial positional relationship, the laser signal emitted by the laser emitter 8041 in the laser sensor module 804 can be reflected to the laser receiver 8042 through the laser reflection plate 804a.

[0329] When the operation part 46a is in the second position, the laser sensor module 804 and the laser reflection plate 804a are in the second spatial positional relationship, and in the second spatial positional relationship, the laser signal emitted by the laser emitter 8041 in the laser sensor module 804 cannot be reflected to the laser receiver 8042 through the laser reflection plate 804a.

[0330] As shown in FIGS. 15-A and 15-B, the positional relationship between the laser sensor module 804 and the laser reflection plate 804a is shown. In FIG. 15-A, the laser sensor module 804 and the laser reflection plate 804a are arranged directly opposite each other, and in FIG. 15-B, the laser sensor module 804 and the laser reflection plate 804a are arranged offset from each other.

[0331] Similar to the above embodiment, in other optional embodiments, the laser sensor module 804 can be attached to the operation part 46a, and the laser reflection plate 804a can be arranged fixedly on the drive axle assembly 1040 or the vehicle frame 100 near the neutral gear mechanism 1046. The positions of the two can be exchanged. When the operation part 46a is in different positions, the spatial positional relationship between the laser sensor module 804 and the laser reflection plate 804a is different, and corresponding to different spatial positional relationships, the laser receiver 8042 in the laser sensor module 804 can receive different results of laser signals or different intensities of received laser signals. The gear recognition assembly 108 can recognize the position state of the operation part 46a according to whether the laser receiver 8042 receives a laser signal or the intensity of the received laser signal, so as to determine the gear state of the drive axle assembly 1040.

[0332] Those skilled in the art can understand that, similar to the working mode of the Hall sensor module 802, different spatial positional relationships between the laser sensor module 804 and the laser reflection plate 804a and corresponding combinations of the positions of the operation part 46a and the gear state of the neutral gear mechanism 1046 are also various. The corresponding combination logic relationship between the spatial positional relationship and the position of the operation part 46a and the gear state of the neutral gear mechanism 1046 can be flexibly adjusted.

[0333] As shown in FIG. 16, in a multifunctional vehicle provided by one or more optional embodiments of the present application, the gear recognition assembly 108 includes an image recognition module 805, and the operation part 46a is provided with a positioning mark point.

[0334] The image recognition module 805 can be arranged on the drive axle assembly 1040 or the frame 100 close to the neutral gear mechanism 1046, and is configured to acquire an image corresponding to the part of the neutral gear mechanism 1046 in the drive axle assembly 1040.

[0335] The image recognition module 805 can perform image recognition on the neutral gear mechanism 1046 to determine the position state of the operation part 46a. Preferably, the image recognition module 805 can recognize the positioning mark point arranged on the operation part 46a, and can more accurately determine the position state of the operation part 46a. The gear recognition assembly 108 can determine the gear state of the drive axle assembly 1040 according to the recognition result of the image recognition module 805 on the operation part 46a.

[0336] As shown in FIG. 17, in a multifunctional vehicle provided by one or more optional embodiments of the present application, the controller 1010 can determine whether the multifunctional vehicle is in an abnormal gear state according to the gear state of the neutral gear mechanism 1046 and the operation state of the multifunctional vehicle.

[0337] The operation state of the multifunctional vehicle includes a controlled state and an uncontrolled state. The controlled state refers to the working condition state of the multifunctional vehicle under the control of the operator, and the uncontrolled state refers to the working condition state of the multifunctional vehicle not under the control of the operator.

[0338] The method for determining whether the multifunctional vehicle is in an abnormal gear state according to the gear state of the neutral gear mechanism and the operation state of the multifunctional vehicle by the controller includes:

[0339] S100: Determine whether the multifunctional vehicle is in a controlled state.

[0340] The controller 1010 can determine whether the multi-functional vehicle is in a controlled state according to the power-on state of the electrical system in the multi-functional vehicle. When the electrical system is in a power-on state, it can be determined that the multi-functional vehicle is in a controlled state.

[0341] S101: In response to the multi-functional vehicle being in a controlled state, determine whether the neutral gear mechanism is in a neutral state.

[0342] S102: The neutral gear mechanism is in a neutral state, and it is determined that the multi-functional vehicle is in a neutral driving state.

[0343] S103: In response to the multi-functional vehicle being in an uncontrolled state, determine whether the neutral gear mechanism is in a gear state.

[0344] S104: In response to the neutral gear mechanism being in a gear state, it is determined that the multi-functional vehicle is in a gear towing state.

[0345] The abnormal gear state includes the neutral driving state and the gear towing state.

[0346] The multi-functional vehicle uses a gear recognition component to recognize the gear state of the neutral gear mechanism and determines whether the multi-functional vehicle is in an abnormal gear state in combination with the working condition of the vehicle. In response to the abnormal gear state, timely warning prompts are given, and active safety control is performed, so as to optimize the operation driving experience, and to avoid damage to the vehicle caused by operating the vehicle in an abnormal gear state, thereby significantly improving the safety and stability of the vehicle.

[0347] As shown in FIG. 18, one or more optional embodiments provided by the present specification provide a multi-functional vehicle, which includes a left drive axle assembly 301 and a right drive axle assembly 302. The left drive axle assembly 301 and the right drive axle assembly 302 are respectively mechanically connected to the corresponding side of the drive motor 1042 and the drive wheel 1044, so as to transmit the power of the drive motor 1042 to the drive wheel 1044. The left drive axle assembly 301 and the right drive axle assembly 302 are respectively provided with a left neutral gear mechanism 1046a and a right neutral gear mechanism 1046b.

[0348] In the multi-functional vehicle, the left neutral gear mechanism 1046a and the right neutral gear mechanism 1046b can be in a state of one side neutral gear and the other side gear. During normal driving, the operator operates the drive motor 1042, and the drive wheel 1044 on the gear side can rotate normally, while the drive wheel 1044 on the neutral side does not rotate. In this case, the multi-functional vehicle differentially steers.

[0349] The gear recognition assembly 108 comprises a left gear recognition subassembly and a right gear recognition subassembly respectively arranged corresponding to the left neutral gear mechanism 1046a and the right neutral gear mechanism 1046b, and is configured to respectively identify the gears of the left neutral gear mechanism 1046a and the right neutral gear mechanism 1046b.

[0350] As shown in FIG. 19, in a multi-functional vehicle provided by one or more optional embodiments of the present specification, the method for determining whether the multi-functional vehicle is in an abnormal gear state according to the gear of the neutral gear mechanism 1046 and the operating state of the multi-functional vehicle comprises the following steps.

[0351] S201: Determine the identification results of the left gear recognition subassembly and the right gear recognition subassembly.

[0352] S202: In response to the identification determination results of the left gear recognition subassembly and the right gear recognition subassembly being one of the left neutral gear mechanism and the right neutral gear mechanism being in a neutral state and the other being in a gear state, determine the operating state of the multi-functional vehicle.

[0353] When one of the left neutral gear mechanism 1046a and the right neutral gear mechanism 1046b is in a neutral state and the other is in a gear state, it can be determined that one of them definitely affects the normal state of the vehicle. For example, when the multi-functional vehicle is in a driving state, the neutral gear mechanism 1046 in a neutral state will cause the vehicle to be in an abnormal gear state of neutral driving. When the multi-functional vehicle is in a towing state, the neutral gear mechanism 1046 in a gear state will cause the vehicle to be in an abnormal gear state of gear towing.

[0354] It should be noted that when one of the left neutral gear mechanism 1046a and the right neutral gear mechanism 1046b is in a neutral state and the other is in a gear state, if the multi-functional vehicle is towed, the multi-functional vehicle is in a gear towing state, which also belongs to an abnormal gear state.

[0355] Therefore, when one of the left neutral gear mechanism 1046a and the right neutral gear mechanism 1046b is in a neutral state and the other is in a gear state, it is necessary to further determine the operating state of the multi-functional vehicle to determine whether the multi-functional vehicle is in a controlled state.

[0356] S203: In response to the multi-functional vehicle being in a controlled state, determine that the multi-functional vehicle is in a neutral driving state.

[0357] S204: In response to the multi-functional vehicle being in an uncontrolled state, determine that the multi-functional vehicle is in a gear towing state.

[0358] The abnormal gear state includes the neutral driving state and the gear towing state.

[0359] As shown in FIG. 20, the multifunctional vehicle provided by one or more optional embodiments of the present specification further includes a loudspeaker 501. The controller 1010 generates a warning prompt instruction when determining that the multifunctional vehicle is in an abnormal gear state. The warning prompt instruction is used to control the loudspeaker 501 to generate an identifiable acoustic signal to remind the operator to avoid further damage and impact of the abnormal gear state on the multifunctional vehicle.

[0360] In some optional embodiments, the loudspeaker 501 can generate a beep as an identifiable acoustic signal to remind the operator. The loudspeaker can also directly generate a voice prompt corresponding to different abnormal gear states. For example, the warning prompt instruction can control the loudspeaker 501 to output a voice prompt of "neutral driving" corresponding to the abnormal gear state of neutral driving, and the warning prompt instruction can control the loudspeaker to output a voice prompt of "gear towing" corresponding to the abnormal gear state of gear towing.

[0361] In some optional embodiments, the multifunctional vehicle includes a left drive axle assembly 301, a right drive axle assembly 302, and corresponding left neutral mechanism 1046a and right neutral mechanism 1046b. The identifiable acoustic signal can directly prompt the operator about the specific gear of the left neutral mechanism 1046a and the right neutral mechanism 1046b.

[0362] In some optional embodiments, the warning prompt instruction is used to control the loudspeaker 501 to generate an identifiable acoustic signal to remind the operator that the multifunctional vehicle is in an abnormal gear state according to a preset prompt frequency, and the sound frequency of the identifiable acoustic signal can also be adjusted.

[0363] The preset prompt frequency is greater than or equal to 0 Hz and less than or equal to 500 Hz. When the preset prompt frequency is 0 Hz, it means that the loudspeaker 501 continuously generates an identifiable acoustic signal.

[0364] The corresponding sound frequency of the acoustic signal is greater than or equal to 200 Hz and less than or equal to 15,000 Hz.

[0365] The preset prompt frequency can be determined according to the duration of the multifunctional vehicle in the abnormal gear state when the multifunctional vehicle is in the abnormal gear state of neutral driving.

[0366] Compared with the abnormal gear state of neutral driving, the abnormal gear state of gear towing has a more serious impact on the multifunctional vehicle.

[0367] As understood by those skilled in the art, the longer the multi-functional vehicle is in the range of towing a trailer, the faster the speed of the trailer, the faster the rotation of the driving wheel 1044 drives the rotation of the driving motor 1042, the higher the rotation speed of the driving motor 1042, and the higher the voltage generated by the driving motor 1042. As a result, the possibility and degree of damage to the related circuit components are also greater. Therefore, in some optional embodiments, corresponding to the abnormal gear state of towing a trailer, the controller 1010 can determine and adjust the preset prompt frequency and / or the sound frequency of the acoustic signal according to at least one of the towing speed of the multi-functional vehicle, the duration of the abnormal gear state, and the voltage value of the driving motor. Different preset prompt frequencies and different sound frequencies are used to indicate different warning urgency levels.

[0368] The controller 1010 can adjust and control the preset prompt frequency and the sound frequency according to the following correlation:

[0369] The preset prompt frequency: f t0 ∝(V t ;T y ;U f )

[0370] Wherein, f t0 represents the preset prompt frequency, V t , T y , U f respectively represent the towing speed, the duration of the abnormal gear state, and the voltage value generated by the driving motor. f t0 is positively correlated with at least one of V t , T y , U f , that is, the faster the towing speed, the longer the duration of the abnormal gear state, and the higher the voltage generated by the driving motor, the higher the preset prompt frequency.

[0371] For example, the preset prompt frequency is adjusted and controlled according to the towing speed.

[0372] The preset prompt frequency:

[0373] Wherein, f t0 represents the preset prompt frequency, f t-max represents the maximum value of the preset prompt frequency, which can be set to 500 Hz, for example. V t represents the towing speed, represents the design maximum running speed of the multi-functional vehicle, and p is a regulation coefficient, 0 < p < 1. Based on the above regulation formula, the greater the trailer running speed, the greater the preset prompt frequency can be controlled.

[0374] Similarly, the sound frequency can be controlled and regulated based on the same control logic: f v ∝(V t ; T y ; U f )

[0375] wherein f v represents the sound frequency, V t , T y , and U f represent the trailer running speed, the duration of the abnormal gear state, and the voltage value generated by the driving motor, respectively. v The sound frequency is positively correlated with at least one of V t , T y , and U f , that is, the faster the trailer running speed, the longer the duration of the abnormal gear state, and the higher the voltage generated by the driving motor, the higher the sound frequency.

[0376] As shown in FIGS. 21 and 22, the multi-functional vehicle provided by one or more optional embodiments of the present specification further comprises a display assembly 502. The display assembly 502 is arranged in the line of sight of the operator for easy viewing, and is used to display the overall vehicle state information of the multi-functional vehicle, including but not limited to the health state information of the power supply system 106, the voltage and current parameter information, the power information, and the driving motor speed information, the cutting blade speed information, the driving speed gear information, the real-time vehicle speed information, etc.

[0377] The controller 1010 generates a warning prompt instruction when it is determined that the multi-functional vehicle is in an abnormal gear state. The warning prompt instruction is used to control the display assembly 502 to display a warning image identifier to remind the operator. The display assembly 502 can display different warning image identifiers corresponding to different abnormal gear states.

[0378] As shown in FIG. 23-A and FIG. 23-B, in some optional embodiments, when the controller 1010 determines that the multi-functional vehicle is in an abnormal gear state, the controller 1010 sends a warning prompt instruction to the display component 502. In response to the warning prompt instruction, the display component 502 can pop up a warning interface 5020 in the middle of the display screen. The warning interface 5020 includes a warning image identifier 5030. When the multi-functional vehicle is in an abnormal gear state of emptying the gear while driving, the first warning image identifier 5031 is displayed in the warning interface 5020. When the multi-functional vehicle is in an abnormal gear state of engaging the gear while towing the trailer, the second warning image identifier 5032 is displayed in the warning interface 5020.

[0379] In some optional embodiments, the multi-functional vehicle includes a left emptying mechanism 1046a and a right engaging mechanism 1046b. The warning interface 5020 can also include warning description content, which specifically indicates the respective gear states of the left emptying mechanism 1046a and the right engaging mechanism 1046b. As shown in FIG. 23-A, the warning description content indicates that the left emptying mechanism 1046a is in an emptying state and the right engaging mechanism 1046b is in an engaging state.

[0380] In some optional embodiments, the warning description content can also include processing prompt information. The processing prompt information provides the operator with a processing operation suggestion for eliminating the abnormal gear state.

[0381] As shown in FIG. 24, one or more optional embodiments provided by the present specification also provide a multi-functional vehicle, which further includes a communication component 503. When the controller 1010 determines that the multi-functional vehicle is in an abnormal gear state, the controller 1010 generates a warning prompt instruction for controlling the communication component 503 to generate prompt information and for controlling the communication component 503 to send the prompt information to a mobile terminal associated with the multi-functional vehicle.

[0382] The mobile terminal refers to a mobile terminal device with communication computing functions, including but not limited to a smart phone, a tablet computer, a wearable device, a portable functional device, etc. The terminal ID of the mobile terminal and the vehicle ID of the multi-functional vehicle and the identity information of the operator are correspondingly mapped and associated, based on which the communication component 503 can accurately and correctly send the prompt information to the mobile terminal corresponding to the multi-functional vehicle.

[0383] The mobile terminal includes a display interface, and after receiving the prompt information from the communication component 503, the mobile terminal can visually display the prompt information in the display interface.

[0384] The communication mode between the communication component 503 and the mobile terminal includes, but is not limited to, Bluetooth, WiFi, email, GSM (Global System of Mobile communication), GPRS (General Packet Radio Service), CDMA (Code Division Multiple Access), WCDMA (Wideband Code Division Multiple Access), LTE (Long Term Evolution), SMS (Short Messaging Service).

[0385] As shown in FIG. 25, the multifunctional vehicle provided by one or more optional embodiments of the present specification further includes a gear shifting operation component 601. The gear shifting operation component 601 can be controlled to perform gear shifting operation on the neutral gear mechanism 1046, switch the neutral gear mechanism 1046 from the neutral gear state to the gear engaged state, or switch the neutral gear mechanism 1046 from the gear engaged state to the neutral gear state.

[0386] When the controller 1010 determines that the multifunctional vehicle is in an abnormal gear state, the controller 1010 generates a safety control instruction to control the gear shifting operation component 601 to perform gear shifting operation on the neutral gear mechanism 1046, so as to timely eliminate the abnormal gear state. Specifically, the safety control instruction is used to control the gear shifting operation component to switch the neutral gear mechanism from the neutral gear state to the gear engaged state when the multifunctional vehicle is in the neutral gear driving state, and is used to control the gear shifting operation component to switch the neutral gear mechanism from the gear engaged state to the neutral gear state when the multifunctional vehicle is in the gear engaged trailer state.

[0387] The multifunctional vehicle, when the controller 1010 determines that the multifunctional vehicle is in an abnormal gear state, generates a safety control instruction to control the gear shifting operation component 601 to perform gear shifting operation, so as to timely eliminate the abnormal gear state, thereby avoiding damage to the multifunctional vehicle caused by the abnormal gear state. In this way, the safety and stability of the vehicle can be significantly improved.

[0388] As shown in FIG. 26, the multifunctional vehicle provided by one or more optional embodiments of the present application further comprises a locking mechanism 602. The locking mechanism 602 can be controlled to lock the drive axle assembly 1040. When the drive axle assembly 1040 is in the locked state, the drive motor 1042 and the drive wheel 1044 cannot rotate.

[0389] The controller 1010 generates the safety control instruction corresponding to the locking mechanism 602 in the locked state when it determines that the multifunctional vehicle is in the abnormal gear state of the hitched trailer.

[0390] In the hitched trailer state, the drive wheel 1044 is affected by external force to rotate and drive the drive motor 1042 to rotate, thereby causing the drive motor 1042 to generate electricity to generate voltage, which may cause damage to related circuit components. Therefore, when the controller 1010 determines that the multifunctional vehicle is in the abnormal state of the hitched trailer, it generates a safety control instruction to control the locking mechanism 602 to be in the locked state. After the locking mechanism 602 is in the locked state, the drive motor 1042 and the drive wheel 1044 cannot continue to rotate, and the drive motor 1042 will not generate electricity to generate voltage. In this way, the drive motor can be stopped from generating electricity in time, so as to avoid damage to the multifunctional vehicle caused by the hitched trailer. In this way, the safety and stability of the vehicle can be significantly improved.

[0391] As shown in FIG. 27, the multifunctional vehicle provided by one or more optional embodiments of the present application further comprises an electrically controlled brake assembly 603. The electrically controlled brake assembly 603 can be controlled to perform brake operation, so that the drive wheel 1044 cannot rotate and the multifunctional vehicle stops moving.

[0392] The controller 1010 generates the safety control instruction corresponding to the electrically controlled brake assembly 603 to perform brake operation when it determines that the multifunctional vehicle is in the abnormal gear state of the hitched trailer.

[0393] In the state of the hanging gear trailer, the driving wheel 1044 is affected by external force to rotate and drive the driving motor 1042 to rotate, and then the driving motor 1042 generates voltage by generating electricity, which may cause damage to related circuit components. Therefore, when the control 1010 determines that the multifunctional vehicle is in the abnormal state of the hanging gear trailer, a safety control instruction is generated to control the electric brake assembly 603 to perform a brake operation. The electric brake assembly 603 performs a brake operation, so that the driving wheel 1044 can no longer continue to rotate, and the driving motor 1042 will no longer generate voltage. In this way, the driving motor can be stopped from generating electricity in time, so that the damage of the hanging gear trailer to the multifunctional vehicle can be avoided. In this way, the safety and stability of the vehicle can be significantly improved.

[0394] In some optional embodiments, when the controller 1010 determines that the multifunctional vehicle is in the abnormal gear state of the hanging gear trailer, the corresponding safety control instruction is generated to control the electric brake assembly 603 to perform a brake operation according to a preset brake frequency, and the brake operation is periodically performed at a certain time interval. When the electric brake assembly 603 performs a brake operation according to the preset frequency, the speed of the driving wheel 1044 can be reduced during braking, or the driving wheel 1044 can be directly braked to stop rotating. Periodically performing a brake operation according to the preset brake frequency can ensure that the speed of the driving wheel 1044 is always maintained at a low speed level, and the speed of the driving motor 1042 is also maintained at a low level. The voltage generated by the driving motor 1042 is low, which will not cause damage to related components, so that the damage of the hanging gear trailer to the multifunctional vehicle can be avoided. In addition, performing a brake operation according to the preset brake frequency, the multifunctional vehicle dragged by external force will produce strong vibration, which greatly hinders the external force from further applying to the multifunctional vehicle, and can also be very obvious as a whole vehicle abnormal prompt information to remind the operator.

[0395] In some optional embodiments, the preset brake frequency is greater than or equal to 0 Hz and less than or equal to 100 Hz. When the preset brake frequency is 0 Hz, it means that the controller 1010 controls the electric brake assembly 603 to perform a brake operation and continuously maintain the brake state.

[0396] Those skilled in the art will appreciate that, when the trailer is in gear, the faster the speed of the trailer, the faster the rotation of the drive wheel 1044 will drive the drive motor 1042 to rotate, the higher the speed of the drive motor 1042 will be, the higher the voltage generated by the drive motor 1042 will be, and the greater the possibility and extent of damage to related circuit components. Therefore, in response to the abnormal gear state of the geared trailer, the safety control instructions generated by the controller 1010 can also adjust and control the execution frequency of the braking operation of the electronically controlled brake assembly 603 based on at least one of the trailer speed of the multi-purpose vehicle, the duration of the abnormal gear state, and the voltage value of the drive motor. Different preset braking frequencies are used to respond to the different degrees of impact of the geared trailer on the multi-purpose vehicle.

[0397] The controller 1010 can adjust and control the preset braking frequency according to the following relationship:

[0398] The preset braking frequency: f s0 ∝(V t ;T y ;U f )

[0399] Among them, f s0 Indicates the preset braking frequency, V t 、T y 、U f Respectively represent the trailer running speed, the duration of the abnormal gear state and the voltage value of the drive motor. s0 With V t 、T y 、U f The preset braking frequency is positively correlated with at least one of the following: that is, the faster the trailer runs, the longer the abnormal gear state lasts, and the higher the driving motor power generation voltage is, the higher the preset braking frequency is.

[0400] An example of adjusting and controlling the preset prompt frequency according to the running speed of the trailer is used for description.

[0401] The preset braking frequency:

[0402] Among them, f s0 Indicates the preset braking frequency, f s-max Indicates the maximum value of the preset braking frequency, V t Indicates the trailer running speed, It represents the designed maximum operating speed of the multi-purpose vehicle, α is the adjustment coefficient, 0<α≤1.

[0403] In the above calculation formula of the preset braking frequency, the trailer running speed Vt less than the design maximum operating speed a product of the adjustment coefficient a and the trailer operating speed V t the greater, the closer to the design maximum operating speed a product of the adjustment coefficient a and the trailer operating speed V t the greater, the preset brake frequency f s0 the higher.

[0404] the preset brake frequency f s0 the higher, the shorter the time interval for the electric control brake assembly 603 to perform brake operation, and the more intense the shaking of the multi-functional vehicle.

[0405] In one of the alternative embodiments provided in the present specification, a multi-functional vehicle is provided, wherein the controller 1010 generates a safety control instruction when determining that the multi-functional vehicle is in an abnormal gear state of the hitched trailer. The safety control instruction is used to control the driving motor 1042 to output a brake torque for the hitched trailer state. The brake torque can cause the driving wheel 1044 to generate a braking rotation or a braking rotation trend, and the direction of the braking rotation is opposite to the rotation direction of the driving wheel 1044 when the multi-functional vehicle is towed by an external force. Therefore, it can be understood that the brake torque can offset or completely offset the influence of the external force on the driving wheel 1044 to a certain extent, so as to slow down the rotation speed of the driving wheel 1044 affected by the external force or to stop the rotation of the driving wheel 1044.

[0406] In the hitched trailer state, the driving wheel 1044 is affected by the external force to rotate and drive the driving motor 1042 to rotate, and then the driving motor 1042 generates voltage by generating electricity, which may cause damage to related circuit components. Therefore, when the control 1010 determines that the multi-functional vehicle is in the abnormal state of the hitched trailer, the safety control instruction is generated to control the driving motor 1042 to output a brake torque to slow down the rotation speed of the driving wheel 1044 or to stop the rotation of the driving wheel 1044, so as to reduce the generating voltage of the driving motor 1042 or to make the driving motor 1044 no longer generate voltage. In this way, the damage of the hitched trailer to the multi-functional vehicle can be weakened or directly avoided, and the safety and stability of the vehicle can be significantly improved.

[0407] In some optional embodiments, the safety control instruction can control the driving motor 1042 to generate a braking torque while controlling the electric control brake assembly 603 to perform a braking operation, and the combination of the two can achieve a better braking effect, so as to more thoroughly avoid the damage of the towing of the gear to the multi-functional vehicle, and further improve the safety and stability of the vehicle.

[0408] When the safety control instruction controls the electric control brake assembly 603 to perform a braking operation according to a preset braking frequency, the driving motor 1042 can also be synchronously controlled to output a braking torque according to the same frequency. Such a control mode can better and more thoroughly reduce the rotation speed of the driving wheel 1044, or directly brake the driving wheel 1044 to stop rotating, so as to ensure that the rotation speed of the driving wheel 1044 is always maintained within a low speed range, and the rotation speed of the driving motor 1042 is also maintained within a low speed range, thereby avoiding the damage of the towing of the gear to the multi-functional vehicle. Similarly, the above control mode performs a braking operation and outputs a braking torque according to a preset braking frequency, and the multi-functional vehicle dragged by external force will produce strong vibration, which greatly hinders the external force from being further applied to the multi-functional vehicle, and can also serve as very obvious vehicle abnormality prompt information to remind the operator.

[0409] For the same purpose, in another aspect, the present specification provides a multi-functional vehicle.

[0410] As shown in FIGS. 1 and 2, the multi-functional vehicle provided by one or more optional embodiments of the present specification comprises a vehicle frame 100, a function mechanism 102 and a driving mechanism 104 connected to the vehicle frame, a power supply system 106 for supplying power to the function mechanism 102 and the driving mechanism 104, a gear recognition assembly 108, an in-place state detection assembly 1084, and a controller 1010.

[0411] The driving mechanism 104 further comprises a neutral gear mechanism 1046. The neutral gear mechanism 1046 can be controlled to make the driving axle assembly 1040 in a neutral gear state or a gear engaged state. In the gear engaged state, the driving axle assembly 1040 outputs the power of the driving motor 1042 to the driving wheel 1044, and in the neutral gear state, the driving axle assembly 1040 does not output the power of the driving motor 1042 to the driving wheel 1044.

[0412] The gear recognition assembly 108 is configured to recognize the neutral gear mechanism 1046 to determine the gear position of the neutral gear mechanism 1046.

[0413] The in-position state detection component 1084 is arranged on the bearing mechanism 1000, and is configured to detect in-position state information of the operator, the in-position state information including in-position and off-position of the operator. The in-position state detection component 1084 can determine whether the operator is in position to drive the multi-functional vehicle, so as to determine the operation state of the multi-functional vehicle.

[0414] In some optional embodiments, the in-position state detection component 1084 includes a two-channel switch. Taking a seat as an example, the two-channel switch can be arranged below the seat. When the operator is in position, the two-channel switch is in a first switch state under the pressure, and the in-position state detection component 1084 can output a signal indicating that the operator is in position. When the operator is off position, the two-channel switch is in a second switch state under the pressure-free state, and the in-position state detection component 1084 can output a signal indicating that the operator is off position. Those skilled in the art can understand that the two-channel switch can be arranged in correspondence with other forms of the bearing mechanism 1000. Regardless of the form of the bearing mechanism 1000, the in-position state detection component 1084 can output corresponding in-position state information for different in-position states.

[0415] The controller 1010 is configured to determine whether the multi-functional vehicle is in an abnormal gear state according to the gear of the neutral gear mechanism 1046 and the in-position state information, and generate a warning prompt instruction and / or a safety control instruction when it is determined that the multi-functional vehicle is in the abnormal gear state.

[0416] The warning prompt instruction is used to control the multi-functional vehicle to issue a warning to remind the operator to handle the abnormal gear state. The safety control instruction is used to control the safety of the multi-functional vehicle to avoid further damage and influence of the abnormal gear state on the multi-functional vehicle.

[0417] As shown in FIG. 28, in a multi-functional vehicle provided by one or more optional embodiments of the present application, the method for determining whether the multi-functional vehicle is in an abnormal gear state according to the gear of the neutral gear mechanism 1046 and the in-position state information includes:

[0418] S301: In response to the in-position state information being in position and the neutral gear mechanism being in a neutral state, it is determined that the multi-functional vehicle is in a neutral driving state.

[0419] The in-position state information being in position indicates that the multi-functional vehicle is in a working condition of authorized driving, and at this time, the neutral gear mechanism 1046 is in a neutral state, and the multi-functional vehicle is in an abnormal gear state of neutral driving.

[0420] S302: In response to the in-place state information being personnel off-site and the neutral gear mechanism being in the gear engaged state, determining that the multi-functional vehicle is in the gear engaged trailer state.

[0421] The in-place state information is personnel off-site, indicating that the multi-functional vehicle is in an uncontrolled working condition without an operator driving. At this time, the neutral gear 1046 is in the gear engaged state, and the multi-functional vehicle is in an abnormal gear state of the gear engaged trailer when being towed by an external force.

[0422] The abnormal gear state includes the neutral gear driving state and the gear engaged trailer state.

[0423] In the multi-functional vehicle, the controller 1010 determines the state according to the in-place state information detected by the in-place state detection assembly 1084 and the gear identified by the gear assembly 108, which can accurately determine whether the multi-functional vehicle is in an abnormal gear state. Further, timely warning prompts are given for abnormal gear states, and active safety control is performed, thereby optimizing the operation driving experience and avoiding damage to the vehicle caused by operating the vehicle in an abnormal gear state, significantly improving vehicle safety and stability.

[0424] As shown in FIG. 18, one or more optional embodiments of the present specification provide a multi-functional vehicle, which includes a left drive axle assembly 301 and a right drive axle assembly 302. The left drive axle assembly 301 and the right drive axle assembly 302 are respectively mechanically connected to a corresponding side of a drive motor 1042 and a drive wheel 1044, for transmitting power of the drive motor 1042 to the drive wheel 1044. The left drive axle assembly 301 and the right drive axle assembly 302 are respectively provided with a left neutral gear mechanism 1046a and a right neutral gear mechanism 1046b.

[0425] In the multi-functional vehicle, the left neutral gear mechanism 1046a and the right neutral gear mechanism 1046b can be in a state of one side neutral gear and the other side gear engaged. During normal working driving, the operator operates to start the drive motor 1042, and the drive wheel 1044 on the gear engaged side can rotate normally, while the drive wheel 1044 on the neutral gear side does not rotate. In this case, the multi-functional vehicle differentially steers.

[0426] The gear identification assembly 108 includes a left gear identification sub-assembly and a right gear identification sub-assembly respectively corresponding to the left neutral gear mechanism 1046a and the right neutral gear mechanism 1046b, for respectively identifying and determining the gear of the left neutral gear mechanism 1046a and the right neutral gear mechanism 1046b.

[0427] As shown in FIG. 29, in a multi-functional vehicle provided by one or more optional embodiments of the present application, a method for determining whether the multi-functional vehicle is in an abnormal gear state according to the gear state of the neutral gear mechanism and the in-place state information, comprises the following steps:

[0428] S400: determining whether one of the left neutral gear mechanism and the right neutral gear mechanism is in a neutral state and the other is in a gear state.

[0429] S401: in response to one of the left neutral gear mechanism and the right neutral gear mechanism being in a neutral state and the other being in a gear state, determining whether the in-place state information is a person in place.

[0430] Based on the identification determination results of the left gear identification subassembly and the right gear identification subassembly, the specific gear state of the left neutral gear mechanism 1046a and the right neutral gear mechanism 1046b can be determined.

[0431] When one of the left neutral gear mechanism 1046a and the right neutral gear mechanism 1046b is in a neutral state and the other is in a gear state, it can be determined that one of them definitely affects the normal state of the vehicle. For example, when the multi-functional vehicle is in a driving state, the neutral gear mechanism 1046 in a neutral state will cause the vehicle to be in an abnormal gear state of neutral driving. When the multi-functional vehicle is in a towing state, the neutral gear mechanism 1046 in a gear state will cause the vehicle to be in an abnormal gear state of gear towing.

[0432] It should be noted that when one of the left neutral gear mechanism 1046a and the right neutral gear mechanism 1046b is in a neutral state and the other is in a gear state, if the multi-functional vehicle is towed, the multi-functional vehicle is in a gear towing state, which also belongs to an abnormal gear state.

[0433] Therefore, when it is determined that one of the left neutral gear mechanism 1046a and the right neutral gear mechanism 1046b is in a neutral state and the other is in a gear state, it is necessary to further determine the operation state of the multi-functional vehicle to determine whether the multi-functional vehicle is in a controlled state. Specifically, the in-place state information can be combined to determine whether the multi-functional vehicle is in a controlled state.

[0434] S402: in response to the in-place state information being a person in place, determining that the multi-functional vehicle is in a neutral driving state.

[0435] The in-position state information is that a person is in position, indicating that the operating personnel is carried on the multi-functional vehicle and is in a controlled state. In this case, the operating personnel performs normal driving control operation on the multi-functional vehicle, and when one of the left neutral mechanism 1046a and the right neutral mechanism 1046b is in a neutral state and the other is in a gear state, the driving wheel on the neutral side cannot normally drive, so it can be determined that the multi-functional vehicle is in a neutral driving state.

[0436] S403: In response to the in-position state information being that a person is off position, determining that the multi-functional vehicle is in a gear towing state.

[0437] The in-position state information is that a person is off position, indicating that there is no operating personnel driving on the multi-functional vehicle and it is in an uncontrolled state. In this case, the multi-functional vehicle can be towed by external force, and when one of the left neutral mechanism 1046a and the right neutral mechanism 1046b is in a neutral state and the other is in a gear state, the driving wheel on the gear side will drive the corresponding driving motor to rotate and generate electricity, so it can be determined that the multi-functional vehicle is in a gear towing state.

[0438] The abnormal gear state includes the neutral driving state and the gear towing state.

[0439] For the same purpose, in another aspect, the present specification provides a multi-functional vehicle.

[0440] As shown in FIGS. 1 and 2, a multi-functional vehicle provided by one or more optional embodiments of the present specification includes a vehicle frame 100, a function mechanism 102 and a driving mechanism 104 connected to the vehicle frame, a power supply system 106 for supplying power to the function mechanism 102 and the driving mechanism 104, and a gear recognition component 108, a current detection component 1080 and a controller 1010.

[0441] The driving mechanism 104 further includes a neutral mechanism 1046. The neutral mechanism 1046 can be controlled to make the driving axle assembly 1040 in a neutral state or a gear state, and the driving axle assembly 1040 outputs the power of the driving motor 1042 to the driving wheel 1044 in the gear state, and the driving axle assembly 1040 does not output the power of the driving motor 1042 to the driving wheel 1044 in the neutral state.

[0442] The gear recognition component 108 is used to recognize the neutral mechanism 1046 to determine the gear state of the neutral mechanism 1046.

[0443] The current detection component 1080 is configured to detect a current of the driving motor 1042, which is a current flowing from the power supply system 106 to the driving motor 1042. In the normal driving state of the multi-functional vehicle, the current of the driving motor 1042 flows from the power supply system 106 to the driving motor 1042.

[0444] The controller 1010 is configured to determine whether the multi-functional vehicle is in an abnormal gear state according to the gear of the neutral gear mechanism 1046 and the current detected by the current detection component 1080, and generate a warning prompt instruction and / or a safety control instruction when it is determined that the multi-functional vehicle is in the abnormal gear state.

[0445] The warning prompt instruction is used to control the multi-functional vehicle to issue a warning to remind the operator to handle the abnormal gear state. The safety control instruction is used to control the multi-functional vehicle to avoid further damage and influence of the abnormal gear state on the multi-functional vehicle.

[0446] As shown in FIG. 30, in a multi-functional vehicle provided by one or more optional embodiments of the present application, a method for determining whether the multi-functional vehicle is in an abnormal gear state according to the gear of the neutral gear mechanism 1046 and the current detected by the current detection component 1080 includes the following steps.

[0447] S500: determining whether the neutral gear mechanism is in a neutral state by using the gear recognition component.

[0448] S501: in response to the neutral gear mechanism being in the neutral state, determining whether the current detected by the current detection component is a forward current.

[0449] The forward current refers to a current flowing from the power supply system 106 to the driving motor 1042, and a current flowing from the driving motor 1042 to the power supply system 106 is a reverse current.

[0450] S502: in response to the current detected by the current detection component being the forward current, determining whether the current exceeds a preset current threshold.

[0451] When the neutral gear mechanism 1046 is in the gear state, the driving motor 1042 is power-connected with the driving wheel 1044, and the driving motor 1042 is in a loaded operation state. When the neutral gear mechanism 1046 is in the neutral state, the driving motor 1042 is in an unloaded operation state.

[0452] The belt load operation state can include light load, rated load and heavy load, and the specific load state depends on the ground condition and the road slope condition of the multifunctional vehicle. Regardless of the belt load condition, the working current is significantly higher than the no-load current.

[0453] The preset current threshold is set to be greater than the no-load current of the driving motor 1042 and less than the belt load current of the driving motor 1042. Those skilled in the art can understand that the preset current threshold can be flexibly set within the corresponding value range according to the actual situation.

[0454] S503: In response to the current not exceeding the preset current threshold, it is determined that the multifunctional vehicle is in the neutral driving state.

[0455] The current not exceeding the preset current threshold can determine that the driving motor 1042 is in a no-load operation state, and in combination with the neutral state of the neutral mechanism 1046, it can be determined that the multifunctional vehicle is in a neutral driving state.

[0456] S504: In response to the neutral mechanism being in the gear engaged state, it is determined whether the current detected by the current detection component is a reverse current.

[0457] S505: In response to the current detected by the current detection component being a reverse current, it is determined that the multifunctional vehicle is in the gear engaged trailer state.

[0458] If the current detected by the current detection component 1080 is a reverse current, i.e. the power flows from the driving motor 1042 to the power supply system 106. In this case, the driving motor 1042 is driven by the driving wheel 1044 and reversely rotates as a generator to generate power. In combination with the gear engaged state of the neutral mechanism 1046, it can be determined that the multifunctional vehicle is in the gear engaged trailer state.

[0459] In this case, if the trailer speed is too fast, the speed of the driving motor 1042 will also be high, and the voltage generated by the driving motor 1042 will also be very high, exceeding the maximum withstand voltage of the related circuit components, which will cause component damage, greatly affecting the overall stability and reliability of the multifunctional vehicle.

[0460] The abnormal gear state includes the neutral driving state and the gear engaged trailer state.

[0461] In the multi-functional vehicle, the gear state determined by the gear identification component 108 and the current direction and size detected by the current detection component 1080 are used to distinguish and determine the state of the multi-functional vehicle, so as to accurately determine whether the multi-functional vehicle is in an abnormal gear state and the specific abnormal gear state.

[0462] As shown in FIG. 31, one of the multi-functional vehicles provided by one or more optional embodiments of the present application includes a left drive axle assembly 301 and a right drive axle assembly 302. The left drive axle assembly 301 and the right drive axle assembly 302 are respectively mechanically connected to a left drive motor 1042a and a right drive motor 1042b on the corresponding side and a left drive wheel 1044a and a right drive wheel 1044b on the corresponding side, so as to transmit the power of the drive motor 1042 to the corresponding drive wheel 1044. The left drive axle assembly 301 and the right drive axle assembly 302 are respectively provided with a left neutral gear mechanism 1046a and a right neutral gear mechanism 1046b.

[0463] In the multi-functional vehicle, the left neutral gear mechanism 1046a and the right neutral gear mechanism 1046b can be in a state of one side being in neutral gear and the other side being in gear. During normal driving, the operator operates the drive motor 1042, and the drive wheel 1044 on the gear side can rotate normally, while the drive wheel 1044 on the neutral gear side does not rotate. In this case, the multi-functional vehicle differentially steers.

[0464] The gear identification component 108 includes a left gear identification sub-component and a right gear identification sub-component respectively corresponding to the left neutral gear mechanism 1046a and the right neutral gear mechanism 1046b, and is configured to respectively identify and determine the gear of the left neutral gear mechanism 1046a and the right neutral gear mechanism 1046b.

[0465] The current detection component 1080 is configured to respectively detect the current of the left drive motor 1042a and the right drive motor 1042b.

[0466] As shown in FIG. 32, in the multi-functional vehicle provided by one or more optional embodiments of the present application, the method for determining whether the multi-functional vehicle is in an abnormal gear state according to the gear of the neutral gear mechanism 1042 and the current detected by the current detection component 1080 includes the following steps.

[0467] S600: Determine whether the left neutral gear mechanism and the right neutral gear mechanism are in a state of one being in neutral gear and the other being in gear.

[0468] Based on the identification and determination results of the left gear position identification subassembly and the right gear position identification subassembly 108b, the specific gear position status of the left neutral mechanism 1046a and the right neutral mechanism 1046b can be determined.

[0469] S601 : In response to one of the left neutral mechanism and the right neutral mechanism being in a neutral state and the other being in a gear state, determining whether the currents of the left drive motor and the right drive motor are forward currents.

[0470] The forward current refers to the current when electric power flows from the power supply system 106 to the drive motor 1042 , and the current when electric power flows from the drive motor 1042 to the power supply system 106 is a reverse current.

[0471] If one of the left neutral mechanism 1046a and the right neutral mechanism 1046b is in neutral and the other is in gear, it can be determined that one of the two will definitely affect the normal state of the entire vehicle. For example, when the multi-functional vehicle is in driving mode, the neutral mechanism 1046 in neutral mode will cause the entire vehicle to be in an abnormal gear state, such as neutral driving. When the multi-functional vehicle is towing, the neutral mechanism 1046 in gear mode will cause the entire vehicle to be in an abnormal gear state, such as towing in gear.

[0472] It should be noted that one of the left neutral mechanism 1046a and the right neutral mechanism 1046b is in a neutral state and the other is in a gear state. In this case, if the multi-purpose vehicle is towed, the multi-purpose vehicle is in a gear-engaged trailer state, which is also an abnormal gear state.

[0473] S602: In response to the currents of the left drive motor and the right drive motor being both forward currents, determine whether the currents of the left drive motor and the right drive motor exceed a preset current threshold.

[0474] The currents of the left drive motor 1042a and the right drive motor 1042b are both forward currents, indicating that the multi-functional vehicle is in a controlled normal driving state, and the operator starts the left drive motor 1042a and the right drive motor 1042b at the same time.

[0475] When the neutral gear mechanism 1046 is in the engaged state, the drive motor 1042 is connected to the drive wheel 1044, and the drive motor 1042 is in a loaded operation state. When the neutral gear mechanism 1046 is in the neutral state, the drive motor 1042 is in a no-load operation state.

[0476] The loaded operating state may include light load, rated load and heavy load, and the specific load state depends on the ground conditions and road slope conditions of the multi-purpose vehicle. Regardless of the loaded state, the operating current will be significantly higher than the current in the no-load operating state.

[0477] The preset current threshold is set to be greater than the no-load current of the drive motor 1042 and less than the loaded current of the drive motor 1042. Those skilled in the art will appreciate that the preset current threshold can be flexibly set within a corresponding value range according to actual conditions.

[0478] S603: In response to the current of the drive motor corresponding to the neutral mechanism in the engaged gear state exceeding the preset current threshold, and the current of the drive motor corresponding to the neutral mechanism in the neutral state not exceeding the preset current threshold, it is determined that the multi-functional vehicle is in the neutral driving state.

[0479] Take the left neutral gear mechanism 1046a being in a gear engaged state and the right neutral gear mechanism 1046b being in a neutral state as an example.

[0480] If the current of the corresponding left drive motor 1042a exceeds the preset current threshold, and the current of the corresponding right drive motor 1042b does not exceed the preset current threshold, it means that the left drive motor 1042a is in a loaded running state, and the right drive motor 1042b is in a no-load running state.

[0481] It can be determined that under normal driving conditions, after the operator starts the left drive motor 1042a and the right drive motor 1042b at the same time, the right drive motor 1042b cannot normally transmit power to the corresponding right drive wheel 1044b, thereby determining that the multi-functional vehicle is in a neutral driving state.

[0482] S604: In response to the current of the drive motor corresponding to the neutral mechanism in the engaged gear state being a reverse current, and the drive motor corresponding to the neutral mechanism in the neutral gear state not detecting current, it is determined that the multi-purpose vehicle is in the engaged gear trailer state.

[0483] Similarly, take the left neutral gear mechanism 1046a being in the engaged gear state and the right neutral gear mechanism 1046b being in the neutral gear state as an example.

[0484] The current of the left driving motor 1042a and the right driving motor 1042b is not forward current, which indicates that the multifunctional vehicle is in an uncontrolled state. Under the action of external force dragging, the left driving wheel 1044a rotates, and the dragging force is transmitted to the left driving motor 1042a through the left neutral gear mechanism 1046a in the gear engaged state, causing the left driving motor 1042a to rotate and generate electricity. The current of the left driving motor 1042a is reverse current, that is, the left driving motor 1042a starts to generate electricity under the influence of the gear engaged trailer, and the generated voltage may cause damage to the components in the corresponding electrical circuit. In this case, it can be determined that the multifunctional vehicle is in a gear engaged trailer state.

[0485] Under the action of external force dragging, the right driving wheel 1044b rotates, and the corresponding right neutral gear mechanism 1046b is in a neutral state, so the dragging force will not be transmitted to the right driving motor 1042b. Therefore, the right driving motor 1042b will not generate current, and the current detection assembly 1080 will not detect current.

[0486] The abnormal gear state includes the neutral gear driving state and the gear engaged trailer state.

[0487] The controller 1010 determines the abnormal gear state of the multifunctional vehicle according to the gear recognition results of the left gear recognition subassembly and the right gear recognition subassembly 108b, and combines the current detection results of the left driving motor 1042a and the right driving motor 1042b for double analysis and verification.

[0488] For the same purpose, in another aspect, the present specification provides a multifunctional vehicle.

[0489] As shown in FIGS. 1 and 2, the multifunctional vehicle provided by one or more optional embodiments of the present specification comprises a vehicle frame 100, a function mechanism 102 and a driving mechanism 104 connected to the vehicle frame, a power supply system 106 for supplying power to the function mechanism 102 and the driving mechanism 104, a gear recognition assembly 108, a current detection assembly 1080, a motion state detection assembly 1082 and a controller 1010.

[0490] The driving mechanism 104 further comprises a neutral gear mechanism 1046. The neutral gear mechanism 1046 can be controlled to make the driving axle assembly 1040 in a neutral state or a gear engaged state. The driving axle assembly 1040 outputs the power of the driving motor 1042 to the driving wheel 1044 in the gear engaged state, and does not output the power of the driving motor 1042 to the driving wheel 1044 in the neutral state.

[0491] The gear recognition component 108 is configured to recognize the neutral gear 1046 to determine the gear of the neutral gear 1046.

[0492] The current detection component 1080 is configured to detect a current of the driving motor 1042, which is a current flowing from the power supply system 106 to the driving motor 1042. In a normal driving state of the multi-functional vehicle, the current of the driving motor 1042 is directed from the power supply system 106 to the driving motor 1042.

[0493] The motion state detection component 1082 is configured to monitor a motion state of the multi-functional vehicle to obtain motion state information. The motion state information of the multi-functional vehicle includes, but is not limited to, acceleration, speed, steering angle, pitch angle, and roll angle.

[0494] In some optional embodiments, the motion state detection component 1082 includes an inertial measurement module (IMU). The inertial measurement module 1082 can be fixedly arranged on the frame 100 of the multi-functional vehicle and moves with the multi-functional vehicle.

[0495] The inertial measurement module IMU includes a 3-axis gyroscope and a 3-axis acceleration sensor. The 3-axis refers to three coordinate axes in a spatial coordinate system. The inertial measurement module IMU can be used to measure the acceleration of the multi-functional vehicle and calculate the speed based on the acceleration. The inertial measurement module IMU can also be used to determine the attitude angle of the multi-functional vehicle in different directions. In some optional embodiments, the measurement data of the gyroscope and the acceleration sensor in the inertial measurement module IMU can be filtered by using an adaptive complementary filtering algorithm, an extended Kalman filtering algorithm, or the like, and the real-time attitude can be updated by using an Euler angle algorithm, a direction cosine algorithm, a quaternion method, an equivalent rotation quaternion algorithm, or the like.

[0496] In some optional embodiments, the motion state detection component 1082 can be arranged on a universal wheel in the multi-functional vehicle. As shown in FIG. 1, the multi-functional vehicle includes at least one universal wheel 201, and at least one universal wheel 201 is arranged on the front side of the frame 100. When the driving wheel 1044 drives the multi-functional vehicle to move, the universal wheel 201 is also driven to rotate and steer. The motion state detection component 1082 is arranged correspondingly to the universal wheel 201, and the motion state information is obtained by detecting the motion acceleration and / or the steering angle of the universal wheel 201.

[0497] The universal wheel 201 includes a steering shaft perpendicular to the ground and a horizontal shaft parallel to the ground. The universal wheel pivots around the steering shaft to realize whole-machine steering, and rotates around the horizontal shaft during driving. As shown in FIG. 33, in some optional embodiments, the motion state detection assembly 1082 corresponding to the universal wheel 201 can include a rotation speed sensor 202 and an angle sensor 203. The rotation speed sensor is configured to detect the rotation speed of the universal wheel 201 around the horizontal shaft, and the angle sensor is configured to detect the deflection angle of the universal wheel 201 around the steering shaft. The rotation speed sensor and the angle sensor can be a rotary angle potentiometer, a magnetic angle encoder, an optical angle encoder, a Hall effect angle sensor, a rotary transformer, etc.

[0498] The motion state detection assembly 1082 can determine the motion state information of the multi-functional vehicle by using the rotation speed sensor and the angle sensor.

[0499] The controller 1010 is configured to determine whether the multi-functional vehicle is in an abnormal gear state according to the gear of the neutral gear mechanism 1046 and the current detected by the current detection assembly 1080, and generate a warning prompt instruction and / or a safety control instruction when it is determined that the multi-functional vehicle is in an abnormal gear state.

[0500] The warning prompt instruction is used to control the multi-functional vehicle to issue a warning to remind the operator to handle the abnormal gear state. The safety control instruction is used to control the multi-functional vehicle to avoid further damage and influence of the abnormal gear state on the multi-functional vehicle.

[0501] As shown in FIG. 34, in a multi-functional vehicle provided by one or more optional embodiments of the present application, the method for determining whether the multi-functional vehicle is in an abnormal gear state by the controller 1010 according to the gear of the neutral gear mechanism 1046, the current detected by the current detection assembly 1080, and the motion state information includes:

[0502] S701: Determine whether the neutral gear mechanism is in a neutral state.

[0503] S702: In response to the neutral gear mechanism being in a neutral state, determine whether the current detected by the current detection assembly is a forward current.

[0504] The forward current refers to the current in the state that the electric power flows from the power supply system to the driving motor, and the current in the state that the electric power flows from the driving motor to the power supply system is a reverse current.

[0505] S703: In response to the current detected by the current detection component being a forward current, determining whether the motion state detection component detects acceleration.

[0506] If the current of the drive motor 1042 detected by the current detection component 1080 is a forward current, it indicates that the multi-purpose vehicle is in a normal driving state. The operator controls the drive motor 1042 in the multi-purpose vehicle to start normally.

[0507] S704: In response to the motion state detection component not detecting acceleration, determining that the multi-purpose vehicle is in a neutral driving state.

[0508] The motion state detection component 1082 did not detect acceleration, indicating that the multi-purpose vehicle had no displacement. In other words, after the operator normally started the drive motor 1042 while driving the multi-purpose vehicle, the power of the drive motor 1042 was not smoothly transmitted to the drive wheels 1044, and the power transmission between the drive motor 1042 and the drive wheels 1044 was interrupted. Therefore, it can be determined that the multi-purpose vehicle is in a neutral driving state.

[0509] S705: In response to the neutral mechanism being in the engaged gear state, determining whether the current detected by the current detection component is a reverse current.

[0510] S706: In response to the current detected by the current detection component being a reverse current, determining whether the motion state detection component detects acceleration and / or a steering angle.

[0511] If the current detected by the current detection component 1080 is reverse current, that is, power is flowing from the drive motor 1042 to the power supply system 106, in this case, the drive motor 1042 is driven by the drive wheel 1044 to rotate in the reverse direction, acting as a generator to generate power. This indicates that the multi-purpose vehicle is in an uncontrolled operating state.

[0512] Furthermore, analysis is performed in combination with the detection result of the motion state detection component 1082 to determine whether the multi-functional vehicle has indeed generated displacement based on the detection result of the motion state detection component 1082.

[0513] S707: In response to the motion state detection component detecting the acceleration and / or steering angle, determining that the multi-purpose vehicle is in the engaged towing state.

[0514] The motion state detection component 1082 detects acceleration and / or steering angle, indicating that the multi-functional vehicle is indeed displaced or steered under the action of external force. The multi-functional vehicle is driven by external force, and the drive wheel 1044 is also affected by external force, which transmits power to the drive motor 1042 through the drive axle assembly 1040 to drive the drive motor 1042 to generate electricity. The higher the displacement / steering speed of the multi-functional vehicle driven by external force, the faster the drive wheel 1044 rotates, the faster the drive motor 1042 rotates, and the higher the voltage generated by the drive motor 1042. The damage to the related circuit components and the damage degree are also greater. It can be determined that the multi-functional vehicle is in the gear-hanging trailer state.

[0515] The abnormal gear state includes the neutral driving state and the gear-hanging trailer state.

[0516] In the multi-functional vehicle, the controller 1010 determines the gear state based on the gear recognition component 108, the current flow direction detected by the current detection component 1080, and the motion state information detected by the motion state detection component 1082. The three are combined to distinguish and judge the multi-functional vehicle state in many aspects, which can accurately judge whether the multi-functional vehicle is in an abnormal gear state and the specific abnormal gear state.

[0517] As shown in FIG. 31, one or more optional embodiments of the present specification provide a multi-functional vehicle, which includes a left drive axle assembly 301 and a right drive axle assembly 302. The left drive axle assembly 301 and the right drive axle assembly 302 are respectively mechanically connected to a left drive motor 1042a and a right drive motor 1042b on the corresponding side, and a left drive wheel 1044a and a right drive wheel 1044b on the corresponding side, to transmit power of the drive motor 1042 to the corresponding drive wheel 1044. The left neutral mechanism 1046a and the right neutral mechanism 1046b are respectively arranged on the left drive axle assembly 301 and the right drive axle assembly 302.

[0518] In the multi-functional vehicle, the left neutral mechanism 1046a and the right neutral mechanism 1046b can be in a state of one side neutral and the other side gear. In the normal working driving process, the operator operates the start drive motor 1042, and the drive wheel 1044 on the gear side can normally rotate, while the drive wheel 1044 on the neutral side does not rotate. In this case, the multi-functional vehicle differentially steers.

[0519] The gear recognition component 108 comprises a left gear recognition sub-component and a right gear recognition sub-component respectively corresponding to the left neutral gear mechanism 1046a and the right neutral gear mechanism 1046b, and is configured to respectively identify the gears of the left neutral gear mechanism 1046a and the right neutral gear mechanism 1046b.

[0520] The current detection component 1080 is configured to respectively detect the currents of the left driving motor 1042a and the right driving motor 1042b.

[0521] As shown in FIG. 35, in a multifunctional vehicle provided by one or more optional embodiments of the present application, a method for determining whether the multifunctional vehicle is in an abnormal gear state according to the gear of the neutral gear mechanism 1046, the current detected by the current detection component 1082, and the motion state information, comprises the following steps.

[0522] S800: Determine whether the left neutral gear mechanism and the right neutral gear mechanism are in a state of one being in neutral and the other being in gear.

[0523] Based on the identification results of the left gear recognition sub-component and the right gear recognition sub-component, the specific gear states of the left neutral gear mechanism 1046a and the right neutral gear mechanism 1046b can be determined.

[0524] S801: In response to one of the left neutral gear mechanism and the right neutral gear mechanism being in a neutral state and the other being in a gear state, determine whether the currents of the left driving motor and the right driving motor are forward currents.

[0525] The forward current refers to the current in a state that the power flows from the power supply system 106 to the driving motor 1042, and the current in a state that the power flows from the driving motor 1042 to the power supply system 106 is a reverse current.

[0526] When one of the left neutral gear mechanism 1046a and the right neutral gear mechanism 1046b is in a neutral state and the other is in a gear state, it can be determined that one of them definitely affects the normal state of the vehicle. For example, when the multifunctional vehicle is in a driving state, the neutral gear mechanism 1046 in a neutral state will cause the vehicle to be in an abnormal gear state of neutral driving. When the multifunctional vehicle is in a towing state, the neutral gear mechanism 1046 in a gear state will cause the vehicle to be in an abnormal gear state of gear towing.

[0527] It should be noted that when one of the left neutral gear mechanism 1046a and the right neutral gear mechanism 1046b is in a neutral state and the other is in a gear state, if the multifunctional vehicle is towed, the multifunctional vehicle is in a gear towing state, which also belongs to an abnormal gear state.

[0528] S802: In response to the currents of the left drive motor and the right drive motor being both forward currents, determine whether the currents of the left drive motor and the right drive motor exceed a preset current threshold.

[0529] The currents of the left drive motor 1042a and the right drive motor 1042b are both forward currents, indicating that the multi-functional vehicle is in a controlled normal driving state, and the operator starts the left drive motor 1042a and the right drive motor 1042b at the same time.

[0530] When the neutral gear mechanism 1046 is in the engaged state, the drive motor 1042 is connected to the drive wheel 1044, and the drive motor 1042 is in a loaded operation state. When the neutral gear mechanism 1046 is in the neutral state, the drive motor 1042 is in a no-load operation state.

[0531] The loaded operating state may include light load, rated load and heavy load, and the specific load state depends on the ground conditions and road slope conditions of the multi-purpose vehicle. Regardless of the loaded state, the operating current will be significantly higher than the current in the no-load operating state.

[0532] The preset current threshold is set to be greater than the no-load current of the drive motor 1042 and less than the loaded current of the drive motor 1042. Those skilled in the art will appreciate that the preset current threshold can be flexibly set within a corresponding value range according to actual conditions.

[0533] S803: In response to the current of the drive motor corresponding to the neutral gear mechanism in the engaged gear state exceeding the preset current threshold, and the current of the drive motor corresponding to the neutral gear mechanism in the neutral gear state not exceeding the preset current threshold, determine whether the motion state detection component detects acceleration and / or steering angle.

[0534] Take the left neutral gear mechanism 1046a being in a gear engaged state and the right neutral gear mechanism 1046b being in a neutral state as an example.

[0535] If the current of the corresponding left drive motor 1042a exceeds the preset current threshold, and the current of the corresponding right drive motor 1042b does not exceed the preset current threshold, it means that the left drive motor 1042a is in a loaded running state, and the right drive motor 1042b is in a no-load running state.

[0536] S804: In response to the motion state detection component detecting the acceleration and / or steering angle, determining that the multi-functional vehicle is in a neutral driving state.

[0537] Further, the motion state detection component 1082 detects that the multi-functional vehicle has acceleration and / or steering angle, which indicates that in the normal driving state, after the operator simultaneously starts the left drive motor 1042a and the right drive motor 1042b, the left drive motor 1042a can smoothly transmit power to the corresponding left drive wheel 1044a, and the right drive motor 1042b cannot normally transmit power to the corresponding right drive wheel 1044b. The multi-functional vehicle has acceleration under the action of the left drive wheel 1044a, and has steering angle under the differential action of the left and right drive wheels.

[0538] Therefore, it can be determined that the multi-functional vehicle is in the neutral driving state.

[0539] S805: In response to the current of the drive motor corresponding to the neutral gear mechanism in the gear-engaged state being reverse current, and the drive motor corresponding to the neutral gear mechanism in the neutral state not detecting current, it is determined whether the motion state detection component detects acceleration and / or steering angle.

[0540] The current of the left drive motor 1042a and the right drive motor 1042b is not forward current, which indicates that the multi-functional vehicle is in an uncontrolled state.

[0541] S806: In response to the motion state detection component detecting acceleration and / or steering angle, it is determined that the multi-functional vehicle is in the gear-engaged trailer state.

[0542] The motion state detection component 1082 detects acceleration and / or steering angle, which indicates that the uncontrolled multi-functional vehicle has been towed under the action of external force.

[0543] Similarly, taking the left neutral gear mechanism 1046a in the gear-engaged state and the right neutral gear mechanism 1046b in the neutral state as an example.

[0544] Under the action of external towing force, the left drive wheel 1044a rotates, and the towing force is transmitted to the left drive motor 1042a through the left neutral gear mechanism 1046a in the gear-engaged state, causing the left drive motor 1042a to rotate and generate electricity. The current of the left drive motor 1042a is reverse current, that is, the left drive motor 1042a starts to generate electricity under the influence of the gear-engaged trailer, and the generated voltage may cause damage to the components in the corresponding electrical circuit. In this case, it can be determined that the multi-functional vehicle is in the gear-engaged trailer state.

[0545] The abnormal gear state includes the neutral driving state and the gear-engaged trailer state.

[0546] For the same purpose, the embodiment of the present specification also provides a garden working vehicle.

[0547] Referring to FIGS. 1-3, in one or more optional embodiments of the present specification, the garden working vehicle comprises a vehicle frame 100, a function mechanism 102 and a driving mechanism 104 connected to the vehicle frame, and a power supply system 106 for supplying power to the function mechanism 102 and the driving mechanism 104.

[0548] The vehicle frame 100 extends at least partially in the front-rear direction, and a bearing mechanism 1000 can be provided on the vehicle frame 100. The bearing mechanism 1000 is used to bear the operator of the garden working vehicle, and can include at least one of a seat or a standing platform.

[0549] The function mechanism 102 comprises an output member for outputting power to realize a specific function. In some optional embodiments, the function mechanism 102 is a mowing element for realizing a mowing function. The function mechanism is also connected to the vehicle frame 100. The function mechanism 102 further comprises a function motor for driving the mowing element to rotate at high speed, and a control module corresponding to the function motor.

[0550] In some optional embodiments, the function mechanism 102 can also be a cleaning element for realizing a cleaning function. The function mechanism further comprises a function motor for driving the cleaning element, and a control module corresponding to the function motor. It can be understood that in some optional embodiments, the function mechanism can also be replaced by other functional components, such as snow sweeping, snow blowing, snow shoveling, flushing, etc. Those skilled in the art should be able to adapt various functional components without creative labor, and all of the above should be included in the protection scope of the present embodiment.

[0551] The driving mechanism 104 is used to drive the garden working vehicle to travel in a garden scene such as a lawn, a garden, a fence, a green, or other road surfaces. The driving mechanism 104 comprises at least one driving axle assembly 1040, which is mechanically connected to a driving motor 1042 and a driving wheel 1044, so as to transmit the power of the driving motor 1042 to the driving wheel 1044 to drive the garden working vehicle to travel.

[0552] The function mechanism 102 and the driving mechanism 104 are loads in the garden working vehicle, and are powered by the power supply system 106. Specifically, the power supply system 106 is used to power at least the function motor in the function mechanism 102 and the driving motor 1042 in the driving mechanism 104. The power supply system 106 can also power other electronic components in the garden working vehicle, such as the control module corresponding to the function motor in the function mechanism 102, the driving control module corresponding to the driving motor 1042 in the driving mechanism 104, and lighting systems, human-computer interaction systems, and the like that can be provided in the vehicle.

[0553] The power supply system 106 is arranged on the vehicle frame 100 and detachably connected to the vehicle frame 100. The power supply system 106 includes a plurality of battery units 1060. The plurality of battery units can be selected from at least one of a first specification battery pack and a second specification battery pack. The first specification battery pack and the second specification battery pack differ in specification, including but not limited to differences in battery pack capacity, voltage, internal resistance, weight, size, energy density, cell type, state of charge information, and state of health information.

[0554] In some optional embodiments, the first specification battery pack and the second specification battery pack differ in battery pack capacity. The capacity of the first specification battery pack is greater than the capacity of the second specification battery pack. The second specification battery pack is configured to power handheld garden tools. For example, the second specification battery pack can power garden tools such as grass trimmers, brush cutters, blowers, chain saws, and the like. In addition, the second specification battery pack can also power torque output tools such as electric drills and electric hammers, sawing tools such as electric circular saws, jigsaws, and reciprocating saws, or grinding tools such as angle grinders and sanders.

[0555] In some optional embodiments, the first specification battery pack and the second specification battery pack differ in the type of battery cell selected. For example, the first specification battery pack and the second specification battery pack can be selected to use lithium iron phosphate battery cells and ternary lithium battery cells, respectively. The plurality of battery units in the power supply assembly can also use nickel-chromium battery cells, lead-acid battery cells, graphene battery cells, and the like.

[0556] The plurality of battery units of the power supply assembly are selected from at least one of a first specification battery pack and a second specification battery pack, which allows the garden working vehicle to be compatible with battery packs of different specifications, meet high-power working requirements, and also be adapted to handheld electric garden tools, making the working method of garden workers more flexible.

[0557] The driving mechanism 104 further comprises a neutral gear mechanism 1046. The neutral gear mechanism 1046 is capable of controllably placing the driving axle assembly 1040 in a neutral gear state or a gear engaged state, the driving axle assembly 1040 outputs power of the driving motor 1042 to the driving wheel 1044 in the gear engaged state, and the driving axle assembly 1040 does not output power of the driving motor 1042 to the driving wheel 1044 in the neutral gear state.

[0558] The garden working vehicle further comprises a gear recognition assembly 108 configured to recognize the neutral gear mechanism 1046 to determine a gear state of the neutral gear mechanism 1046.

[0559] The garden working vehicle further comprises a controller 1010. The controller 1010 can be a vehicle control (VUC), a battery management system (BMS), a motor controller (BMS), a combined control assembly, or a separately arranged control module. The controller 1010 is configured to determine whether the multi-functional vehicle is in an abnormal gear state according to the gear state of the neutral gear mechanism 1046 and an operating state of the multi-functional vehicle, and generate a warning prompt instruction and / or a safety control instruction when it is determined that the multi-functional vehicle is in the abnormal gear state. The warning prompt instruction is used to control the multi-functional vehicle to issue a warning to remind the operator to handle the abnormal gear state. The safety control instruction is used to control the multi-functional vehicle to avoid further damage and influence of the abnormal gear state on the multi-functional vehicle.

[0560] The garden working vehicle utilizes the gear recognition assembly to recognize the gear state of the neutral gear mechanism and determines whether the multi-functional vehicle is in an abnormal gear state in combination with the operating state of the vehicle, timely issues a warning prompt for the abnormal gear state, and actively controls the safety, thereby optimizing the operation and driving experience, avoiding damage to the vehicle caused by operation in the abnormal gear state, and significantly improving the safety and stability of the vehicle.

[0561] For the same purpose, the embodiment of the present specification further provides a neutral gear recognition control device.

[0562] The neutral gear recognition control device is applied to a multi-functional vehicle. As shown in FIGS. 1 and 2, in some optional embodiments, the multi-functional vehicle comprises a vehicle frame 100;

[0563] A carrying mechanism 1000 is arranged on the vehicle frame 100 and is used to carry an operator;

[0564] At least one driving axle assembly 1040 is mechanically connected to a driving motor 1042 and a driving wheel 1044, and is used to transmit power of the driving motor 1042 to the driving wheel 1044 to drive the multi-functional vehicle to travel.

[0565] a neutral gear mechanism 1046, which is capable of controllably putting the drive axle assembly 1040 in a neutral state or a gear engaged state, the drive axle assembly 1040 outputs power of the drive motor 1042 to the drive wheels 1044 in the gear engaged state, and the drive axle assembly 1040 does not output power of the drive motor 1042 to the drive wheels 1044 in the neutral state.

[0566] The present specification provides a neutral gear recognition control device, comprising:

[0567] a gear recognition component 108, which is attached to the neutral gear mechanism, and is configured to recognize and determine a gear state of the neutral gear mechanism; and

[0568] a controller, which is configured to determine whether the multi-functional vehicle is in an abnormal gear state according to the gear state of the neutral gear mechanism 1046 and an operating state of the multi-functional vehicle, and generate a warning prompt instruction and / or a safety control instruction when it is determined that the multi-functional vehicle is in the abnormal gear state.

[0569] In some optional embodiments, the neutral gear recognition control device comprises:

[0570] the gear recognition component 108, the in-position state detection component 1084, or the current detection component 1080, or the current detection component 1080 and the motion state detection component 1082, and the controller 1010.

[0571] The in-position state detection component 1084 is arranged on the load bearing mechanism 1000, and is configured to detect in-position state information of the operator, the in-position state information including an in-position state and an off-position state.

[0572] The current detection component 1080 is configured to detect a corresponding current of the drive motor 1042.

[0573] The motion state detection component 1082 is configured to monitor a motion state of the multi-functional vehicle to obtain motion state information.

[0574] In some optional embodiments, the neutral gear recognition control device comprises the gear recognition component 108 and the in-position state detection component 1084. Correspondingly, the controller 1010 can determine whether the multi-functional vehicle is in an abnormal gear state according to the gear state of the neutral gear mechanism 1046 determined by the gear recognition component 108 and the in-position state information detected by the in-position state detection component 1084.

[0575] In some optional embodiments, the neutral recognition control device comprises the gear recognition component 108 and the current detection component 1080. Accordingly, the controller 1010 can determine whether the multi-functional vehicle is in the abnormal gear state according to the gear of the neutral mechanism 1046 determined by the gear recognition component 108 and the current of the driving motor 1042 detected by the current detection component 1080.

[0576] In some optional embodiments, the neutral recognition control device comprises the gear recognition component 108, the current detection component 1080, and the motion state detection component 1082. Accordingly, the controller 1010 can determine whether the multi-functional vehicle is in the abnormal gear state according to the gear of the neutral mechanism 1046 determined by the gear recognition component 108, the current of the driving motor 1042 detected by the current detection component 1080, and the motion state information of the multi-functional vehicle detected by the motion state detection component 1082.

[0577] When the controller 1010 determines that the multi-functional vehicle is in the abnormal gear state, the controller 1010 is further configured to generate a warning prompt instruction and / or a safety control instruction. The warning prompt instruction is used to control the multi-functional vehicle to issue a warning to remind the operator to handle the abnormal gear state. The safety control instruction is used to control the multi-functional vehicle to avoid further damage and influence of the abnormal gear state on the multi-functional vehicle.

[0578] The neutral recognition control device can accurately determine the abnormal gear state of the multi-functional vehicle by using the current detection component, or by using at least two of the current detection component, the motion state detection component, and the gear state detection component, and timely issue a warning prompt for the abnormal gear state, and actively perform safety control, so as to optimize the operation and driving experience, and avoid damage to the vehicle caused by operating the vehicle in the abnormal gear state, and significantly improve the safety and stability of the vehicle.

[0579] It should be noted that the method of one or more embodiments of the present specification can be executed by a single device, such as a computer or a server, etc. The method of the present embodiment can also be applied to a distributed scenario, and completed by multiple devices cooperating with each other. In this distributed scenario, one of the multiple devices can only execute one or more steps in the method of one or more embodiments of the present specification, and the multiple devices interact with each other to complete the method.

[0580] It should be noted that the foregoing describes a particular embodiment. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order and still achieve desirable results. Additionally, the processes depicted in the accompanying figures do not necessarily require the particular order shown or sequential order to achieve desirable results. In certain implementations, multitasking and parallel processing can be advantageous.

[0581] For ease of description, the above apparatus is described in functional modules for separate description. Of course, the functions of each module can be implemented in one or more software and / or hardware in implementing one or more embodiments of the present specification.

[0582] The apparatus of the above embodiments is used to implement the corresponding method in the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which are not described here.

[0583] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the above-mentioned embodiments of the method. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD), etc. The storage medium can also include a combination of the above types of memories.

[0584] The system, apparatus, module or unit illustrated in the above embodiments can be specifically implemented by a computer chip or entity, or by a product with certain functions. For the convenience of description, the above apparatus is described in functional modules for separate description. Of course, in the implementation of the present application, the functions of each unit can be implemented in the same or more software and / or hardware.

[0585] Those skilled in the art should understand that the embodiments of the present specification can be provided as a method, a system or a computer program product. Therefore, the present specification can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present specification can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0586] It is also important to note that the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0587] Each of the embodiments in the present specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each of the embodiments mainly describes the difference from other embodiments. In particular, for the system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the part of the description of the method embodiments.

[0588] Those skilled in the art should understand that the above discussion of any embodiment is only exemplary and is not intended to limit the scope of the present disclosure (including claims) to these examples; the above embodiments or technical features between different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes of different aspects of one or more embodiments of the present specification as described above, which are not provided in detail for the sake of brevity.

[0589] In addition, in order to simplify the description and discussion, and so as not to make one or more embodiments of the present specification difficult to understand, the well-known power / ground connections of integrated circuit (IC) chips and other components can or can not be shown in the provided drawings. In addition, the apparatus can be shown in the form of a block diagram in order to avoid making one or more embodiments of the present specification difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram apparatus are highly dependent on the platform to be implemented one or more embodiments of the present specification (i.e., these details should be fully within the understanding of those skilled in the art). Where specific details (e.g., circuitry) are set forth in order to describe an illustrative embodiment of the present disclosure, it will be apparent to those skilled in the art that the present specification one or more embodiments can be practiced without these specific details or with variations on these specific details. Therefore, these descriptions should be considered as illustrative rather than limiting.

[0590] While the present disclosure has been described in connection with certain embodiments, it will be understood that many modifications, substitutions, and variations of the preferred embodiments are possible. It is intended that the following claims be construed to encompass all such alternatives, modifications, and variations as fall within the true scope of the present disclosure. Therefore, any omission, modification, equivalent replacement, improvement, etc. made within the spirit and principle of the one or more embodiments of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A multi-purpose vehicle, characterized in that: include: Frame; at least one drive axle assembly, the drive axle assembly mechanically connecting a drive motor and a drive wheel to transmit power from the drive motor to the drive wheel to drive the multi-purpose vehicle; a neutral mechanism capable of controlling the drive axle assembly to be in a neutral state or a geared state, wherein the drive axle assembly outputs power from the drive motor to the drive wheels in the geared state and does not output power from the drive motor to the drive wheels in the neutral state; a gear position identification component, attached to the neutral gear mechanism, for identifying and determining the gear position of the neutral gear mechanism; as well as, The controller is configured to determine whether the multi-function vehicle is in an abnormal gear state based on the gear position of the neutral gear mechanism and the operating state of the multi-function vehicle, and generate a warning prompt instruction and / or a safety control instruction when it is determined that the multi-function vehicle is in an abnormal gear state.

2. The multi-purpose vehicle according to claim 1, characterized in that The neutral gear mechanism includes an operating portion and an action portion. The action portion can place the drive axle assembly in a neutral state or a gear-engaging state under the action of the operating portion.

3. The multi-purpose vehicle according to claim 2, characterized in that The drive axle assembly includes a plurality of shafts, and the plurality of shafts include at least: an input shaft, mechanically connected to the drive motor, wherein the drive motor drives the input shaft to rotate; an output shaft, connected to the input shaft and the drive wheel, for outputting the power of the drive motor to the drive wheel; The neutral gear assembly is arranged on one of the plurality of shafts, the shaft on which the neutral gear assembly is arranged is provided with a movable gear capable of transmitting torque and sliding relative to the shaft, and the shaft adjacent to the shaft on which the neutral gear assembly is arranged is provided with a fixed gear; The action part can controllably drive the movable gear to slide along the shaft so that the movable gear engages or disengages with the fixed gear. When the movable gear engages with the fixed gear, the drive axle assembly is in a gear-engaged state. When the movable gear disengages from the fixed gear, the drive axle assembly is in a neutral state.

4. The multi-purpose vehicle according to claim 2, characterized in that The gear position identification component is provided for the operating portion and is used to detect the position state of the operating portion; When the operating portion is in the first position, the drive axle assembly is in a neutral state; When the operating portion is in the second position, the drive axle assembly is in a gear-engaging state.

5. The multi-purpose vehicle according to claim 4, characterized in that The gear position identification component includes a gear position switch module, and the connection state of the gear position switch module is set corresponding to the position state of the operating part; When the operating portion is in the first position, the gear switch module is in a first connected state; When the operating portion is in the second position, the shift switch module is in a second connected state.

6. The multi-purpose vehicle according to claim 4, characterized in that The gear position recognition component includes a Hall sensor module; The Hall sensor module includes a magnetic element and a Hall sensing element, one of which is disposed on the operating portion, and the other is fixed relative to the drive axle assembly or the vehicle frame, such that a spatial positional relationship between the magnetic element and the Hall sensing element changes with a change in the position state of the operating portion; When the operating portion is in the first position, the magnetic element and the Hall sensor element are in a first spatial position relationship; When the operating portion is in the second position, the magnetic element and the Hall sensor element are in a second spatial position relationship.

7. The multi-purpose vehicle according to claim 4, characterized in that The gear position recognition component includes an infrared sensor module; The infrared sensor module includes an infrared transmitter and an infrared receiver, one of which is disposed on the operating portion, and the other is fixed relative to the drive axle assembly or the vehicle frame, so that the spatial positional relationship between the infrared transmitter and the infrared receiver changes with the position state of the operating portion; When the operating portion is in the first position, the infrared transmitter and the infrared receiver are in a first spatial position relationship, and under the first spatial position relationship, the infrared receiver can receive the infrared signal emitted by the infrared transmitter; When the operating portion is in the second position, the infrared transmitter and the infrared receiver are in a second spatial position relationship. In the second spatial position relationship, the infrared receiver cannot receive the infrared signal sent by the infrared transmitter.

8. The multi-purpose vehicle according to claim 4, characterized in that The gear position recognition component includes an infrared sensor module and an infrared reflector; The infrared sensor module includes an infrared transmitter and an infrared receiver; One of the infrared sensor module and the infrared reflective plate is disposed on the operating portion, and the other is fixed relative to the drive axle assembly or the vehicle frame, so that the spatial positional relationship between the infrared sensor module and the infrared reflective plate changes with changes in the position state of the operating portion; When the operating portion is in the first position, the infrared sensor module and the infrared reflector are in a first spatial position relationship. In the first spatial position relationship, the infrared signal emitted by the infrared transmitter can be reflected by the infrared reflector to the infrared receiver; When the operating portion is in the second position, the infrared sensor module and the infrared reflector are in a second spatial position relationship. In the second spatial position relationship, the infrared signal emitted by the infrared transmitter cannot be reflected by the infrared reflector to the infrared receiver.

9. The multi-purpose vehicle according to claim 4, characterized in that The gear position recognition component includes a laser sensor module; The laser sensor module includes a laser emitter and a laser receiver, one of which is disposed on the operating portion, and the other is fixed relative to the drive axle assembly or the vehicle frame, such that a spatial positional relationship between the laser emitter and the laser receiver changes with a change in the position state of the operating portion; When the operating portion is in the first position, the laser emitter and the laser receiver are in a first spatial position relationship, and under the first spatial position relationship, the laser receiver can receive the laser signal emitted by the laser emitter; When the operating portion is in the second position, the laser emitter and the laser receiver are in a second spatial position relationship. Under the second spatial position relationship, the laser receiver cannot receive the laser signal emitted by the laser emitter.

10. The multi-purpose vehicle according to claim 4, characterized in that The gear position recognition component includes a laser sensor module and a laser reflector plate; The laser sensor module includes a laser transmitter and a laser receiver; One of the laser sensor module and the laser reflector is disposed on the operating portion, and the other is fixed relative to the drive axle assembly or the vehicle frame, so that the spatial positional relationship between the laser sensor module and the laser reflector changes with changes in the position state of the operating portion; when the operating portion is in a first position, the laser sensor module and the laser reflector are in a first spatial positional relationship, and in this first spatial positional relationship, the laser signal emitted by the laser transmitter can be reflected by the laser reflector to the laser receiver; When the operating portion is in the second position, the laser sensor module and the laser reflector are in a second spatial position relationship. In the second spatial position relationship, the laser signal emitted by the laser transmitter cannot be reflected by the laser reflector to the laser receiver.

11. The multi-purpose vehicle according to claim 4, characterized in that A positioning mark point is provided on the operating portion; The gear recognition component includes an image recognition module configured to obtain an image corresponding to the drive axle component, identify and analyze the positioning mark points in the image, and determine the position state of the operating part according to the identification and analysis results.

12. The multi-purpose vehicle according to claim 1, wherein: The operating state of the multi-purpose vehicle includes a controlled state and an uncontrolled state; The controlled state refers to the operating state of the multi-functional vehicle being controlled by the operator; The uncontrolled state refers to the operating state of the multi-functional vehicle that is not controlled by the operator; The method for determining, by the controller, whether the multi-purpose vehicle is in an abnormal gear state according to the gear position of the neutral gear mechanism and the operating state of the multi-purpose vehicle includes: In response to the multi-purpose vehicle being in a controlled state and the neutral mechanism being in a neutral state, determining that the multi-purpose vehicle is in a neutral driving state; In response to the multi-purpose vehicle being in an uncontrolled state and the neutral mechanism being in an in-gear state, determining that the multi-purpose vehicle is in an in-gear trailer state; The abnormal gear state includes the neutral driving state and the engaged towing state.

13. The multi-purpose vehicle according to claim 1, wherein: The left drive axle assembly and the right drive axle assembly are respectively mechanically connected to the drive motor and the drive wheel on the corresponding side to transmit the power of the drive motor to the drive wheel; The left drive axle assembly and the right drive axle assembly are respectively provided with a left neutral mechanism and a right neutral mechanism; The gear position identification component includes a left gear position identification subassembly and a right gear position identification subassembly respectively provided corresponding to the left neutral mechanism and the right neutral mechanism, and is used to respectively identify and determine the gear position of the left neutral mechanism and the right neutral mechanism; The operating state of the multi-purpose vehicle includes a controlled state and an uncontrolled state; The controlled state refers to the operating state of the multi-functional vehicle being controlled by the operator; The uncontrolled state refers to the operating state of the multi-functional vehicle that is not controlled by the operator; The method for determining, by the controller, whether the multi-purpose vehicle is in an abnormal gear state according to the gear position of the neutral gear mechanism and the operating state of the multi-purpose vehicle includes: In response to the identification results of the left gear position identification subassembly and the right gear position identification subassembly being that one of the left neutral mechanism and the right neutral mechanism is in a neutral state and the other is in a gear state, determining the operating state of the multi-purpose vehicle; In response to the multi-purpose vehicle being in a controlled state, determining that the multi-purpose vehicle is in a neutral driving state; In response to the multi-purpose vehicle being in an uncontrolled state, determining that the multi-purpose vehicle is in an in-gear towing state; The abnormal gear state includes the neutral driving state and the engaged towing state.

14. The multi-purpose vehicle according to claim 1, wherein: The multi-purpose vehicle further includes a speaker; The warning prompt instruction is used to control the speaker to generate a recognizable acoustic signal to remind the operator that the multi-purpose vehicle is in an abnormal gear state.

15. The multi-purpose vehicle according to claim 1, wherein: The multi-purpose vehicle further includes a speaker; The warning prompt instruction is used to control the speaker to generate a recognizable acoustic signal according to a preset prompt frequency to remind the operator that the multi-purpose vehicle is in an abnormal gear state.

16. The multi-purpose vehicle according to claim 15, characterized in that The preset prompt frequency is greater than or equal to 0 Hz and less than or equal to 500 Hz.

17. The multi-purpose vehicle according to claim 15, wherein: In response to the multi-purpose vehicle being in an abnormal gear position state of neutral driving, the preset prompt frequency is determined according to the duration of the multi-purpose vehicle being in the abnormal gear position state; In response to the multi-purpose vehicle being in an abnormal gear state with a geared trailer, the preset prompt frequency is determined based on at least one of the trailer running speed of the multi-purpose vehicle, the duration of the abnormal gear state, and the voltage value of the drive motor.

18. The multi-purpose vehicle according to any one of claims 14 or 15, characterized in that: The sound frequency corresponding to the acoustic signal is greater than or equal to 200 Hz and less than or equal to 15000 Hz.

19. The multi-purpose vehicle according to any one of claims 14 or 15, characterized in that: In response to the multi-purpose vehicle being in an abnormal gear position state of neutral driving, the sound frequency corresponding to the acoustic signal is determined according to the duration of the multi-purpose vehicle being in the abnormal gear position state; In response to the multi-purpose vehicle being in an abnormal gear state with a geared trailer, the sound frequency corresponding to the acoustic signal is determined based on at least one of the trailer running speed of the multi-purpose vehicle, the duration of the abnormal gear state, and the voltage value of the drive motor.

20. The multi-purpose vehicle of claim 1, wherein: The multi-purpose vehicle further includes a display assembly; The warning prompt instruction is used to control the display component to display a warning graphic icon corresponding to the abnormal gear state.

21. The multi-purpose vehicle of claim 1, wherein: The multi-purpose vehicle further includes a communication component; The warning prompt instruction is used to control the communication component to generate prompt information and send the prompt information to the mobile terminal associated with the multi-functional vehicle.

22. The multi-purpose vehicle of claim 21, wherein: The mobile terminal includes a display interface; The mobile terminal is configured to visually display the prompt information in the display interface.

23. The multi-purpose vehicle of claim 21, wherein: The communication method between the communication component and the mobile terminal includes but is not limited to Bluetooth, WiFi, email, GSM, GPRS, CDMA, WCDMA, LTE, and SMS.

24. The multi-purpose vehicle of claim 13, wherein: The multi-purpose vehicle further includes a display assembly; The warning prompt instruction is used to control the display component to display a warning graphic icon corresponding to the abnormal gear state; In response to one of the left neutral mechanism and the right neutral mechanism being in a neutral state and the other being in a gear state, the warning prompt instruction is also used to control the display component to display the gear status corresponding to the left neutral mechanism and the right neutral mechanism.

25. The multi-purpose vehicle of claim 1, wherein: The abnormal gear state includes a neutral driving state and a gear-engaged towing state; The multi-purpose vehicle further includes a shift operating assembly capable of controlling the neutral mechanism to perform a gear shift operation; The safety control instruction is used to control the shift operating component to switch the neutral component from the neutral state to the gear state when it is determined that the multi-functional vehicle is in the neutral driving state; The safety control instruction is also used to control the shift operating component to switch the neutral component from the gear state to the neutral state when it is determined that the multi-purpose vehicle is in the gear-engaged trailer state.

26. The multi-purpose vehicle of claim 1, wherein: The abnormal gear state includes a towing state in gear; The multi-function vehicle also includes a locking mechanism, which can control the drive component to be in a locked state, in which the drive motor and the drive wheel cannot rotate; the safety control instruction is used to control the locking mechanism to put the drive component into the locked state when it is determined that the multi-function vehicle is in the gear-engaged trailer state.

27. The multi-purpose vehicle of claim 1, wherein: The abnormal gear state includes a towing state in gear; The multi-purpose vehicle further includes an electronically controlled brake assembly for controlling the braking operation to prevent the drive wheels from rotating; The safety management and control instruction is used to control the electronically controlled brake assembly to perform a braking operation when it is determined that the multi-purpose vehicle is in the gear-engaged trailer state.

28. The multi-purpose vehicle of claim 27, wherein: The safety management and control instruction is used to control the electronically controlled brake component to perform a braking operation according to a preset braking frequency when it is determined that the multi-functional vehicle is in the gear-engaging trailer state.

29. The multi-purpose vehicle of claim 28, wherein: The preset braking frequency is greater than 0 Hz and less than or equal to 100 Hz.

30. The multi-purpose vehicle of claim 28, wherein: The preset braking frequency is determined according to at least one of a running speed of the trailer of the multi-purpose vehicle, a duration of the abnormal gear state, and a voltage value of the drive motor.

31. The multi-purpose vehicle of claim 27, wherein: The abnormal gear state includes a towing state in gear; The safety control instruction is used to control the drive motor to output a braking torque when it is determined that the multi-purpose vehicle is in the engaged towing state, wherein the braking torque can cause the drive wheel to generate braking rotation or a braking rotation tendency; The direction of the braking rotation is opposite to the direction of rotation of the drive wheels when the multi-purpose vehicle is being towed.

32. The multi-purpose vehicle of claim 27, wherein: The safety control instruction is also used to control the drive motor to output a braking torque when controlling the electronically controlled brake assembly to perform a braking operation, and the braking torque can cause the drive wheel to generate a braking rotation or a braking rotation trend.

33. A multi-purpose vehicle, characterized in that: include: Frame; A carrying mechanism, provided on the frame, for carrying an operator; at least one drive axle assembly, the drive axle assembly mechanically connecting a drive motor and a drive wheel to transmit power from the drive motor to the drive wheel to drive the multi-purpose vehicle; a neutral mechanism capable of controlling the drive axle assembly to be in a neutral state or a geared state, wherein the drive axle assembly outputs power from the drive motor to the drive wheels in the geared state and does not output power from the drive motor to the drive wheels in the neutral state; a gear position identification component, attached to the neutral gear mechanism, for identifying and determining the gear position of the neutral gear mechanism; an on-site status detection component, the on-site status detection component being arranged on the carrying mechanism and used to detect on-site status information of the operator, the on-site status information including whether the operator is on-site or off-site; and The controller is configured to determine whether the multi-functional vehicle is in an abnormal gear state based on the gear position of the neutral gear mechanism and the in-position state information, and generate a warning prompt instruction and / or a safety control instruction when it is determined that the multi-functional vehicle is in an abnormal gear state.

34. The multi-purpose vehicle of claim 33, wherein: The method for the controller to determine whether the multi-functional vehicle is in an abnormal gear state according to the gear position of the neutral mechanism and the in-position state information includes: In response to the presence status information indicating that a person is present and the neutral gear mechanism is in a neutral gear state, determining that the multi-purpose vehicle is in a neutral gear driving state; In response to the on-site status information indicating that the personnel are away and the neutral gear mechanism is in the engaged gear state, determining that the multi-purpose vehicle is in the engaged towing state; The abnormal gear state includes the neutral driving state and the engaged towing state.

35. The multi-purpose vehicle of claim 33, wherein: The left drive axle assembly and the right drive axle assembly are respectively mechanically connected to the drive motor and the drive wheel on the corresponding side to transmit the power of the drive motor to the drive wheel; The left drive axle assembly and the right drive axle assembly are respectively provided with a left neutral mechanism and a right neutral mechanism; the gear position identification component includes a left gear position identification subassembly and a right gear position identification subassembly respectively provided with the left neutral mechanism and the right neutral mechanism, for respectively identifying and determining the gear position of the left neutral mechanism and the right neutral mechanism; The method for the controller to determine whether the multi-functional vehicle is in an abnormal gear state according to the gear position of the neutral mechanism and the in-position state information includes: In response to the identification results of the left gear position identification subassembly and the right gear position identification subassembly being that one of the left neutral mechanism and the right neutral mechanism is in a neutral state and the other is in a gear state, determining the in-position state information; In response to the presence status information indicating that a person is present, determining that the multi-purpose vehicle is in a neutral driving state; In response to the on-site status information indicating that the personnel are away from the site, determining that the multi-purpose vehicle is in a gear-engaged towing state; The abnormal gear state includes the neutral driving state and the engaged towing state.

36. A multi-purpose vehicle, characterized in that: include: Frame; at least one drive axle assembly, the drive axle assembly mechanically connecting a drive motor and a drive wheel to transmit power from the drive motor to the drive wheel to drive the multi-purpose vehicle; a neutral mechanism capable of controlling the drive axle assembly to be in a neutral state or a geared state, wherein the drive axle assembly outputs power from the drive motor to the drive wheels in the geared state and does not output power from the drive motor to the drive wheels in the neutral state; a gear position identification component, attached to the neutral gear mechanism, for identifying and determining the gear position of the neutral gear mechanism; a current detection component, configured to detect a current corresponding to the drive motor; and The controller is configured to determine whether the multi-function vehicle is in an abnormal gear state based on the gear position of the neutral gear mechanism and the current detected by the current detection component, and generate a warning prompt instruction and / or a safety control instruction when it is determined that the multi-function vehicle is in an abnormal gear state.

37. The multi-purpose vehicle of claim 36, wherein: The method for the controller to determine whether the multi-purpose vehicle is in an abnormal gear state based on the gear position of the neutral gear mechanism and the current detected by the current detection component includes: In response to the neutral mechanism being in the neutral state and the current detected by the current detection component being a forward current that does not exceed a preset current threshold, determining that the multi-purpose vehicle is in the neutral driving state; wherein the forward current refers to the current in a state in which electric power flows from the power supply system to the drive motor, and the current in a state in which electric power flows from the drive motor to the power supply system is a reverse current; In response to the neutral mechanism being in the engaged state and the current detected by the current detection component being a reverse current, determining that the multi-purpose vehicle is in the engaged towing state; The abnormal gear state includes the neutral driving state and the engaged towing state.

38. The multi-purpose vehicle of claim 36, wherein: The left drive axle assembly and the right drive axle assembly are respectively mechanically connected to the corresponding left drive motor, right drive motor and left drive wheel, right drive wheel, so as to transmit the power of the drive motor to the drive wheel; The left drive axle assembly and the right drive axle assembly are respectively provided with a left neutral mechanism and a right neutral mechanism; the gear position identification component includes a left gear position identification subassembly and a right gear position identification subassembly respectively provided with the left neutral mechanism and the right neutral mechanism, for respectively identifying and determining the gear position of the left neutral mechanism and the right neutral mechanism; The current detection component is used to detect the current of the left drive motor and the right drive motor respectively; The method for the controller to determine whether the multi-purpose vehicle is in an abnormal gear state based on the gear position of the neutral gear mechanism and the current detected by the current detection component includes: In response to the identification results of the left gear position identification subassembly and the right gear position identification subassembly that one of the left neutral mechanism and the right neutral mechanism is in a neutral state and the other is in a gear state, determining whether the current of the left drive motor and the right drive motor is a forward current, wherein the forward current refers to the current in a state in which electric power flows from the power supply system to the drive motor, and the current in a state in which electric power flows from the drive motor to the power supply system is a reverse current; In response to the currents of the left drive motor and the right drive motor both being forward currents, the current of the drive motor corresponding to the neutral mechanism in the engaged state exceeding a preset current threshold, and the current of the drive motor corresponding to the neutral mechanism in the neutral state not exceeding the preset current threshold, determining that the multi-purpose vehicle is in a neutral driving state; In response to the current of the drive motor corresponding to the neutral mechanism in the engaged gear state being a reverse current and the drive motor corresponding to the neutral mechanism in the neutral state not detecting a current, determining that the multi-purpose vehicle is in the engaged towing state; The abnormal gear state includes the neutral driving state and the engaged towing state.

39. A multi-purpose vehicle, characterized in that: include: Frame; at least one drive axle assembly, the drive axle assembly mechanically connecting a drive motor and a drive wheel to transmit power from the drive motor to the drive wheel to drive the multi-purpose vehicle; a neutral mechanism capable of controlling the drive axle assembly to be in a neutral state or a geared state, wherein the drive axle assembly outputs power from the drive motor to the drive wheels in the geared state and does not output power from the drive motor to the drive wheels in the neutral state; a gear position identification component, attached to the neutral gear mechanism, for identifying and determining the gear position of the neutral gear mechanism; A current detection component, used to detect the corresponding current of the driving motor; a motion state detection component, configured to monitor the motion state of the multi-functional vehicle to obtain motion state information; as well as, The controller is configured to determine whether the multi-function vehicle is in an abnormal gear state based on the gear position of the neutral mechanism, the current detected by the current detection component and the motion state information, and generate a warning prompt instruction and / or a safety control instruction when it is determined that the multi-function vehicle is in an abnormal gear state.

40. The multi-purpose vehicle of claim 39, wherein: The method for determining, by the controller, whether the multi-functional vehicle is in an abnormal gear state based on the gear position of the neutral mechanism, the current detected by the current detection component, and the motion state information, includes: In response to the neutral mechanism being in the neutral state, determining whether the current detected by the current detection component is a forward current, wherein the forward current refers to the current in a state in which electric power flows from the power supply system to the drive motor, and the current in a state in which electric power flows from the drive motor to the power supply system is a reverse current; in response to the current detected by the current detection component being a forward current and the motion state detection component not detecting acceleration, determining that the multi-purpose vehicle is in the neutral driving state; In response to the neutral mechanism being in a gear-engaged state, determining whether the current detected by the current detection component is a reverse current; In response to the current detected by the current detection component being a reverse current and the motion state detection component detecting acceleration and / or steering angle, determining that the multi-purpose vehicle is in a towing state; The abnormal gear state includes the neutral driving state and the engaged towing state.

41. The multi-purpose vehicle of claim 39, wherein: The left drive axle assembly and the right drive axle assembly are respectively mechanically connected to the corresponding left drive motor, right drive motor and left drive wheel, right drive wheel, so as to transmit the power of the drive motor to the drive wheel; The left drive axle assembly and the right drive axle assembly are respectively provided with a left neutral mechanism and a right neutral mechanism; the gear position identification component includes a left gear position identification subassembly and a right gear position identification subassembly respectively provided with the left neutral mechanism and the right neutral mechanism, for respectively identifying and determining the gear position of the left neutral mechanism and the right neutral mechanism; The current detection component is used to detect the current of the left drive motor and the right drive motor respectively; the controller determines whether the multi-functional vehicle is in an abnormal gear state based on the gear position of the neutral mechanism, the current detected by the current detection component, and the motion state information, including: In response to the identification results of the left gear position identification subassembly and the right gear position identification subassembly that one of the left neutral mechanism and the right neutral mechanism is in a neutral state and the other is in a gear state, determining whether the current detected by the current detection component is a forward current, wherein the forward current refers to the current in a state in which electric power flows from the power supply system to the drive motor, and the current in a state in which electric power flows from the drive motor to the power supply system is a reverse current; In response to the currents of the left drive motor and the right drive motor being both forward currents, the current of the drive motor corresponding to the neutral gear mechanism in the engaged state exceeding a preset current threshold, the current of the drive motor corresponding to the neutral gear mechanism in the neutral state not exceeding the preset current threshold, and the motion state detection component detecting acceleration and / or steering angle, determining that the multi-purpose vehicle is in a neutral driving state; In response to the current of the drive motor corresponding to the neutral mechanism in the engaged gear state being a reverse current, the drive motor corresponding to the neutral mechanism in the neutral state not detecting current, and the motion state detection component detecting acceleration and / or steering angle, determining that the multi-purpose vehicle is in the engaged towing state; The abnormal gear state includes the neutral driving state and the engaged towing state.

42. The multi-purpose vehicle of claim 39, wherein: The motion state detection component includes an inertial vehicle module.

43. The multi-purpose vehicle of claim 39, wherein: The multifunctional vehicle comprises at least one universal wheel, wherein at least one universal wheel is arranged on the front side of the vehicle frame; The motion state detection component is arranged corresponding to the universal wheel, and obtains the motion state information by detecting the motion acceleration and / or steering angle of the universal wheel.

44. A gardening vehicle, characterized in that: include: Frame; Functional components, provided on the vehicle frame, for performing corresponding functional operations in a controlled manner; at least one drive axle assembly, the drive axle assembly mechanically connecting a drive motor and a drive wheel to transmit power from the drive motor to the drive wheel to drive the multi-purpose vehicle; a power system configured to provide power to at least the functional components and the drive axle assembly; a neutral mechanism capable of controlling the drive axle assembly to be in a neutral state or a geared state, wherein the drive axle assembly outputs power from the drive motor to the drive wheels in the geared state and does not output power from the drive motor to the drive wheels in the neutral state; and a gear position identification component, attached to the neutral gear mechanism, for identifying and determining the gear position of the neutral gear mechanism; as well as, The controller is configured to determine whether the multi-function vehicle is in an abnormal gear state based on the gear position of the neutral gear mechanism and the operating state of the multi-function vehicle, and generate a warning prompt instruction and / or a safety control instruction when it is determined that the multi-function vehicle is in an abnormal gear state.

45. A neutral gear recognition control device, applied to a multi-purpose vehicle, the multi-purpose vehicle comprising: Frame; A carrying mechanism, provided on the frame, for carrying an operator; at least one drive axle assembly, the drive axle assembly mechanically connecting a drive motor and a drive wheel to transmit power from the drive motor to the drive wheel to drive the multi-purpose vehicle; a neutral mechanism capable of controlling the drive axle assembly to be in a neutral state or a geared state, wherein the drive axle assembly outputs power from the drive motor to the drive wheels in the geared state and does not output power from the drive motor to the drive wheels in the neutral state; It is characterized in that the neutral gear identification control device comprises: a gear position identification component, attached to the neutral gear mechanism, for identifying and determining the gear position of the neutral gear mechanism; and a controller configured to determine whether the multi-purpose vehicle is in an abnormal gear state based on the gear position of the neutral gear mechanism and the operating state of the multi-purpose vehicle, and to generate a warning prompt instruction and / or a safety control instruction when it is determined that the multi-purpose vehicle is in an abnormal gear state; or, The neutral gear recognition control device includes: The gear position identification component and the in-position state detection component or the current detection component or the current detection component and the motion state detection component, and the controller; The on-site status detection component is provided on the carrying mechanism, and is used to detect the on-site status information of the operator, wherein the on-site status information includes whether the operator is on-site and whether the operator is out of site; The current detection component is used to detect the corresponding current of the driving motor; The motion state detection component is used to monitor the motion state of the multi-functional vehicle to obtain motion state information; The controller is configured to determine whether the multi-functional vehicle is in an abnormal gear state according to the gear position of the neutral gear mechanism and the in-position state information; or configured to determine whether the multi-purpose vehicle is in an abnormal gear state based on the gear position of the neutral gear mechanism and the current detected by the current detection component; or configured to determine whether the multi-purpose vehicle is in an abnormal gear state based on the gear position of the neutral gear mechanism, the current detected by the current detection component, and the motion state information; The controller is further configured to generate a warning prompt instruction and / or a safety control instruction when it is determined that the multi-functional vehicle is in an abnormal gear state.

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